| 摘要 |
A location attitude estimation device comprises: an unknown attitude candidate calculation unit (1) which receives input of three or more combinations of correspondence points which are included in two images, and known attitudes which are two known attitude parameters among three attitude parameters which represent a relative attitude of a camera which has photographed the two images, and outputs as unknown attitude candidates all unknown attitude solutions which satisfy a prescribed function; a location candidate calculation unit (2) which calculates a candidate of a relative location of the camera with respect to each of the unknown attitude candidates; and an error minimum candidate extraction unit (3) which, from among the unknown attitude candidates and the location candidates, extracts one or a plurality of unknown attitudes and relative locations of the camera whereat a prescribed error function which represents a geometrical relation between the correspondence points, the relative locations of the camera, and the unknown attitudes, reaches a minimum. |
