THREE-DIMENSIONAL RECONSTRUCTED IMAGE PROCESSING DEVICE, THREE-DIMENSIONAL RECONSTRUCTED IMAGE PROCESSING METHOD, AND COMPUTER-READABLE STORAGE MEDIUM HAVING THREE-DIMENSIONAL RECONSTRUCTED IMAGE PROCESSING PROGRAM STORED THEREON

摘要

A three-dimensional image processing device (7) is provided with: an acquisition unit (101) which acquires a plurality of images captured from different viewpoints; a position calculation unit (102) which selects two images as an image pair from among the acquired plurality of images, and calculates the relative position between the images of the selected image pair; a uniqueness determination unit (104) which determines whether or not it is possible to uniquely calculate the relative position between the images of the selected image pair; and a bundle adjustment unit (105) which determines, on the basis of the result of the determination made by the uniqueness determination unit (104), a relative position to be used to calculate an initial value for bundle adjustment, and performs bundle adjustment using the initial value for bundle adjustment as calculated on the basis of the determined relative position.