Processing apparatus, processing method, and program for determining an image taking position

A method, with at least one information processing system, for calculating an image taking position of each of a plurality of images, the method comprising:

• storing, by a processor of the information processing system, thereinto a selected image set including images whose image taking position has been calculated, the images being selected from among the plurality of images;
• calculating, by the processor, a plurality of image taking position candidates for an unselected image of the plurality of images, on a basis of correspondence points in the image with the images included in the selected image set;
• selecting, by the processor, an optimum image taking position having a highest degree of coincidence in correspondence points, from among the plurality of image taking position candidates for the unselected image;
• determining, by the processor, whether or not the unselected image is added to the selected image set, on a basis of the degree of coincidence at the optimum image taking position and the degree of coincidence at another image taking position candidate;
• and
• reconstructing, by the processor, a three-dimensional shape of an image taking target on a basis of the images included in the selected image set and the respective image taking positions thereof.

A computer program product for calculating an image taking position of each of a plurality of images, the computer program product comprising:

• a non-transitory storage medium readable by a processing circuit and storing instructions for execution by the processing circuit for performing a method comprising:
• storing thereinto a selected image set including images whose image taking position has been calculated, the images being selected from among the plurality of images;
• calculating a plurality of image taking position candidates for an unselected image of the plurality of images, on a basis of correspondence points in the image with the images included in the selected image set;
• selecting an optimum image taking position having a highest degree of coincidence in correspondence points, from among the plurality of image taking position candidates for the unselected image;
• determining whether or not the unselected image is added to the selected image set, on a basis of the degree of coincidence at the optimum image taking position and the degree of coincidence at another image taking position candidate;
• and
• reconstructing a three-dimensional shape of an image taking target on a basis of the images included in the selected image set and the respective image taking positions thereof.