Image processing method, image processing system and image processing apparatus

An image processing system comprising:

• a light emitting apparatus for emitting light on an object;
• an image capture apparatus for capturing an image of the object;
• and
• an image processing apparatus capable of performing operations of:
• reading a plurality of images captured by the image capture apparatus with light being emitted by the light emitting apparatus;
• calculating positional information of an optical image formed on the object by the emitted light, on the basis of each of the read images;
• determining corresponding points on respective images which correspond to each other, on the basis of the calculated positional information of the optical image;
• and
• calculating positions and orientations of the image capture apparatus at the time of capturing the images of the object, on the basis of the determined corresponding points.

An image processing system comprising:

• a light emitting apparatus for emitting light on an object;
• an image capture apparatus for capturing an image of the object;
• and
• an image processing apparatus which includes:
• means for reading a plurality of images captured by the image capture apparatus with light being emitted by the light emitting apparatus;
• means for calculating positional information of an optical image formed on the object by the emitted light, on the basis of each of the read images;
• means for determining corresponding points on respective images which correspond to each other, on the basis of the calculated positional information of the optical image;
• and
• means for calculating positions and orientations of the image capture apparatus at the time of capturing the images of the object, on the basis of the determined corresponding points.

An image processing apparatus capable of performing operations of:

• reading a plurality of images captured by an image capture apparatus with light being emitted on an object;
• calculating positional information of an optical image formed on the object by the emitted light, on the basis of each of the read images;
• determining corresponding points on respective images which correspond to each other, on the basis of the calculated positional information of the optical image;
• and
• calculating positions and orientations of the image capture apparatus at the time of capturing the images of the object, on the basis of the determined corresponding points.

An image processing apparatus comprising:

• means for reading a plurality of images captured by an image capture apparatus with light being emitted on an object;
• means for calculating positional information of an optical image formed on the object by the emitted light, on the basis of each of the read images;
• means for determining corresponding points on respective images which correspond to each other, on the basis of the calculated positional information of the optical image;
• and
• means for calculating positions and orientations of the image capture apparatus at the time of capturing the images of the object, on the basis of the determined corresponding points.