Feature point selecting system, feature point selecting method and feature point selecting program

Abstract

A recognition task executing meansthat provides a feature point selecting system which can select an adequate feature point matching a recognition algorithm in a recognition task executes the recognition task using an importance of each of a plurality of feature point candidates on a three-dimensional shape model for a plurality of evaluation images. A recognition error evaluating meansevaluates a recognition error related to all evaluation images from a difference between a recognition result of the recognition task and correct data of the recognition task for each evaluation image. A feature point importance determining meanssets a cost function which is represented as a function obtained by adding a restriction condition that an importance of an unimportant feature point candidate becomes close to zero, to the recognition error related to all evaluation images, and calculating the importance of each feature point candidate which minimizes a value of the cost function. A feature point selecting meansselects a feature point which needs to be used in the recognition task from the feature point candidates on the three-dimensional shape model based on the importance of each feature point candidate.