| 摘要 |
A position and orientation estimation apparatus detects correspondence between a real image obtained by an imaging apparatus by imaging a target object to be observed and a rendered image. The rendered image is generated by projecting a three dimensional model onto an image plane based on three dimensional model data expressing the shape and surface information of the target object, and position and orientation information of the imaging apparatus. The position and orientation estimation apparatus then calculates a relative position and orientation of the imaging apparatus and the target object to be observed based on the correspondence. Then, the surface information of the three dimensional model data is updated by associating image information of the target object to be observed in the real image with the surface information of the three dimensional model data, based on the calculated positions and orientations.
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