VIRTUAL CAMERA IMAGE GENERATION DEVICE, VIRTUAL CAMERA IMAGE GENERATION SYSTEM, VIRTUAL CAMERA IMAGE GENERATION METHOD AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To improve quality of a virtual camera image generated on the basis of an image taken with a camera.SOLUTION: A virtual camera image generation device includes: a virtual camera image generation unit 535 that uses three-dimensional model data to generate a virtual camera image viewed from a set virtual camera viewpoint, on the basis of a camera image taken with a camera attached to a remote control robot; and a camera image selection unit 532 that obtains, for each mesh, information indicating a position of a mesh image in the camera image obtained by capturing a real space corresponding to the mesh on the basis of position/attitude information on the camera in the real space and that selects a mesh image satisfying conditions for use as the virtual camera image on the basis of the information indicating the position of the mesh image.