| 摘要 |
To estimate a position and orientation of an image pickup device relative to an object to be observed, a model generation apparatus (1) includes an acquisition unit (130) configured to acquire a depth image representing a distance between a certain point and an object to be observed per pixel with three-dimensional information representing a shape of the object to be observed, a point group generation unit (140) configured to generate three-dimensional point group data representing the shape of the object to be observed based on the depth image, and a model generation unit (150) configured to generate a three-dimensional model representing the shape of the object to be observed as surface information based on the three-dimensional point group data.
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