| 摘要 |
A device includes a storage unit configured to store map point information including a first map point group indicating a three-dimensional position of an object measured by a distance sensor and a second map point group indicating a three-dimensional position of the object determined based on a plurality of captured images; an acquisition unit configured to acquire a new captured image; a matching unit configured to compare a first projection point group with a feature point group extracted from the new captured image, create pairs of a feature point in the feature point group and a first projection point, compare a second projection point group with the feature point group, and create other pairs of the feature point and a second projection point; and a position and attitude estimation unit configured to, based on the pairs and the other pairs, estimate a position and attitude of a camera. |
