POSITION-POSTURE MEASUREMENT DEVICE, METHOD, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To maintain a state in which it is possible to calculate the position and posture of a first image-capturing device.SOLUTION: A position-posture measurement device 100 detects the image coordinates of an index whose coordinates in a real space are known from a subjective viewpoint image captured by a subjective viewpoint camera 160, and detects the image coordinates of the index whose coordinates in the real space are known from an additional viewpoint image captured by an additional viewpoint camera 170, and calculates the position and posture of the subjective viewpoint camera 160 on the basis of the image coordinates of the index, the coordinates in the real space of the index, and the information of the relative positions and postures of the subjective viewpoint camera 160 and additional viewpoint camera 170. The position-posture measurement device 100 controls the posture and/or the focal distance of the additional viewpoint camera 170 so that the number of indices in the subjective viewpoint and additional viewpoint images equals the number necessary to calculate the position and posture of the subjective viewpoint camera 160.