Image processing apparatus, control method, and storage medium

A method for controlling an image processing apparatus, the method comprising:

• selecting, from among a plurality of time series images that have been acquired from an image capturing apparatus that is disposed on a movable apparatus and that captures images of surroundings of the movable apparatus, a first image that was image captured when a position of the movable apparatus was a first position, and a second image that was image captured when the position of the movable apparatus was a second position, and controlling a movement direction of an image capturing position to the first position and the second position;
• selecting a reference image and a search subject image from the first image and the second image, and performing feature point association;
• and
• switching the reference image based on information showing a movement direction of the movable apparatus, wherein
• during the feature point association, each feature point in the search subject image is searched for within a search range that has been limited based on the movement direction of the movable apparatus.

A non-transitory storage medium storing a program of an image processing apparatus, causing a computer to perform each step of a method for the image processing apparatus, the method comprising:

• selecting, from among a plurality of time series images that have been acquired from an image capturing apparatus that is disposed on a movable apparatus and that captures images of surroundings of the movable apparatus, a first image that was image captured when a position of the movable apparatus was a first position, and a second image that was image captured when a position of the movable apparatus was a second position, and controlling a movement direction of an image capturing position to the first position and the second position;
• selecting a reference image and a search subject image from the first image and the second image, and performing feature point association;
• and
• switching the reference image based on information showing a movement direction of the movable apparatus;
• wherein
• during the feature point association, each feature point in the search subject image is searched for within a search range that has been limited based on the movement direction of the movable apparatus.