部分テンプレート組み合わせ最適化に基づくロバスト画像照合

抄録

In this paper, we propose the new template matching method with high speed, high accuracy and robustness, which works robustly under bad-conditioned situations as occlusion and shading. In this method, firstly, the Hierarchical Distributed Template Matching (HDTM) which we have already proposed makes rough positioning and pose estimation with high speed. Then, we estimate the optimum position and pose robustly by using the LMedS robust estimation and partial templates method. The experimental results for full-rotated target objects show that it achieved the accuracy of errors less than ±0.1 pixels and ±0.1 degrees, and the computing time were shorten up to about 1/20 to the conventional hierarchical search method.