Image processing apparatus and image processing method

An image processing apparatus comprising:

• a memory configured to store shape information of an object;
• and
• a processor configured to
• estimate a first position of an image capturing apparatus within a space by using a prescribed number of combinations that correlate the prescribed number of projection lines to the prescribed number of feature lines, respectively, wherein the prescribed number of projection lines are obtained by projecting the prescribed number of candidate lines from among a plurality of candidate lines included in the shape information onto an image of the object that has been captured by the image capturing apparatus and the prescribed number of feature lines are included in a plurality of feature lines detected from the image,
• generate a first projection line by projecting a different candidate line different from the prescribed number of candidate lines from among the plurality of candidate lines onto the image using the first position,
• select a feature line that corresponds to the first projection line from among the plurality of feature lines,
• estimate a second position of the image capturing apparatus within the space by using a combination that correlates the first projection line to the selected feature line,
• generate a second projection line by projecting the different candidate line onto the image using the second position, and
• determine a third position of the image capturing apparatus within the space according to an indicator of an interval between a position of the second projection line and a position of the different feature line.

An image processing method comprising:

• estimating, by a processor, a first position of an image capturing apparatus within a space by using a prescribed number of combinations that correlate the prescribed number of projection lines to the prescribed number of feature lines, respectively, wherein the prescribed number of projection lines are obtained by projecting the same prescribed number of candidate lines from among a plurality of candidate lines included in shape information of an object onto an image of the object that has been captured by the image capturing apparatus and the prescribed number of feature lines are included in a plurality of feature lines detected from the image;
• generating, by the processor, a first projection line by projecting a different candidate line different from the prescribed number of candidate lines from among the plurality of candidate lines onto the image using the first position;
• selecting, by the processor, a feature line that corresponds to the first projection line from among the plurality of feature lines;
• estimating, by the processor, a second position of the image capturing apparatus within the space by using a combination that correlates the first projection line to the selected feature line;
• generating, by the processor, a second projection line by projecting the different candidate line onto the image using the second position;
• and
• determining, by the processor, a third position of the image capturing apparatus within the space according to an indicator of an interval between a position of the second projection line and a position of the different feature line.