| 摘要 |
<P>PROBLEM TO BE SOLVED: To reduce the influence due to misdetection index and an index for low detection accuracy to measure precisely and stably a position and an attitude of an imaging device. <P>SOLUTION: An index detecting part 2030 detects the index arranged or set on an object, based on a picked-up image. An evaluation amount calculating part 2060 calculates the evaluation amount, by using a two-dimensional geometric feature of the index on the image and/or a three-dimensional geometrical features expressing the relation between the imaging device 2010 and the index in the three-dimensional space of the index. A reliability calculating part 2070 calculates the reliability of the index, in response to the evaluation amount of the calculated index. A position and attitude calculating part 2080 finds the position and the attitude of the object or the imaging device 2010, by using at least the calculated reliability of the index and information regarding the image coordinates of the respective indexes detected. <P>COPYRIGHT: (C)2008,JPO&INPIT |
