Image matching apparatus, control method, and non-transitory computer-readable storage medium

A control method performed by a computer, comprising:

• acquiring a ground-view image, an aerial-view image, a ground depth image, and an aerial depth image, the ground depth image being an image that indicates a distance from a ground camera to each location captured in the ground-view image, and the aerial depth image being an image that indicates a distance from a center location captured in the aerial-view image to each location captured in the aerial-view image,
• extracting features from the ground-view image and the ground depth image to compute a ground feature;
• extracting features from the aerial-view image and the aerial depth image to compute an aerial feature;
• and
• determining whether or not the ground-view image and the aerial-view image match each other using the ground feature and the aerial feature,
• wherein the acquisition of the aerial depth image comprises:
• generating the aerial depth image by computing a distance between each pixel of the aerial image and a center of the aerial image and setting, to each pixel of the aerial depth image, a value proportional to the computed distance between that pixel and the center of the aerial depth image;
• and
• acquiring the generated aerial depth image.

A non-transitory computer-readable storage medium storing a program that causes a computer to execute:

• acquiring a ground-view image, an aerial-view image, a ground depth image, and an aerial depth image, the ground depth image being an image that indicates a distance from a ground camera to each location captured in the ground-view image, and the aerial depth image being an image that indicates a distance from a center location captured in the aerial-view image to each location captured in the aerial-view image,
• extracting features from the ground-view image and the ground depth image to compute a ground feature;
• extracting features from the aerial-view image and the aerial depth image to compute an aerial feature;
• and
• determining whether or not the ground-view image and the aerial-view image match each other using the ground feature and the aerial feature,
• wherein the acquisition of the aerial depth image comprises:
• generating the aerial depth image by computing a distance between each pixel of the aerial image and a center of the aerial image and setting, to each pixel of the aerial depth image, a value proportional to the computed distance between that pixel and the center of the aerial depth image;
• and
• acquiring the generated aerial depth image.