Image processing apparatus, image processing method, and non-transitory computer-readable storage medium for storing program

An image processing method executed by a computer, the method comprising:

• executing a detection processing that includes detecting a plurality of feature lines from a first image photographed by an imaging device from a first photographing position;
• executing a specifying processing that includes specifying, based on a positional relationship, a first feature line from among the plurality of feature lines, the first feature line being a feature line representing a defective portion of a shape of an object in the first image, the positional relationship being a relation between a plurality of projection lines and the plurality of feature lines, the plurality of projection line being generated by projecting each of a plurality of line segments onto the first image, each of the plurality of line segments being a line segment that is defined in shape information associated with the object and that represents the shape of the object;
• executing a calculation processing that includes
• setting a plurality of candidate positions based on the first photographing position, each of the plurality of candidate positions being a candidate for a second photographing position at which a second image including the object is photographed by the imaging device, and
• calculating an evaluation value of each of the plurality of candidate positions;
• executing a determination processing that includes determining any one of the plurality of candidate positions based on the evaluation value of each of the plurality of candidate positions;
• and
• executing an output processing that includes outputting first information to be used in recognition of the determined candidate position.

A non-transitory computer-readable storage medium for storing a program which causes a processor to perform processing, the processing comprising:

• executing a detection processing that includes detecting a plurality of feature lines from a first image photographed by an imaging device from a first photographing position;
• executing a specifying processing that includes specifying, based on a positional relationship, a first feature line from among the plurality of feature lines, the first feature line being a feature line representing a defective portion of a shape of an object in the first image, the positional relationship being a relation between a plurality of projection lines and the plurality of feature lines, the plurality of projection line being generated by projecting each of a plurality of line segments onto the first image, each of the plurality of line segments being a line segment that is defined in shape information associated with the object and that represents the shape of the object;
• executing a calculation processing that includes
• setting a plurality of candidate positions, that are candidates for a second photographing position at which a second image including the object is photographed by the imaging device, based on the first photographing position, and
• calculating an evaluation value of each of the plurality of candidate positions;
• executing a determination processing that includes determining any one of the plurality of candidate positions based on the evaluation value of each of the plurality of candidate positions;
• and
• executing an output processing that includes outputting first information to be used in recognition of the determined candidate position.