Image processing method, image processing device, and medium which synthesize multiple images

Abstract

An image processing method includes: acquiring first and second frame images shot by cameras; acquiring first state information of an unmanned aerial vehicle and second and third state information of the cameras; extracting feature point groups from the first and second frame images; calculating correction values based on the state information at the first time and state information at a second time; outputting the extracted feature point groups as corrected feature point groups at the first at a predetermined timing, and correcting feature point groups at the second time as the corrected feature point groups at the first time at a timing other than the predetermined timing; calculating a transformation parameter using the corrected feature point groups; performing projective transformation of the first and second frame images based on the transformation parameter; and synthesizing the first and second frame images after the projective transformation.