| 摘要 |
PROBLEM TO BE SOLVED: To estimate a stable positional orientation by preventing update using an inappropriate photographed image in updating surface information of three-dimensional model data with a photographed image. SOLUTION: A device for estimating the positional orientation acquires the photographed image acquired by imaging an observation object by an imaging apparatus; generates a drawing image by drawing a three-dimensional model on an image plane based on the three-dimensional model data indicating shape and surface information of the observation object and positional orientation information of the imaging apparatus; and calculates a relative positional orientation between the imaging apparatus and the observation object by detecting association between the generated drawing image and an image of the observation object in the photographed image. The surface information is updated by associating image information of the observation object in the photographed image with the surface information of the three-dimensional model data based on the calculated positional orientation. It is determined whether the photographed image is appropriate for updating the surface information and then it is determined whether the update is performed. COPYRIGHT: (C)2011,JPO&INPIT
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