| 摘要 |
PROBLEM TO BE SOLVED: To provide a position/attitude estimation apparatus configured to reduce the influence of error matching, to improve the accuracy of estimating a position and attitude of a camera, a position/attitude estimation apparatus, and a program.SOLUTION: A position/attitude estimation apparatus includes: a matching processing section 44 which executes matching between a map point and a feature point on a captured image to be processed; an estimation section 45 which estimates a position and attitude of a camera, on the basis of an error between a feature point successful in matching and a projection point of a corresponding map point; and a map point information setting section 42 which identifies a peripheral shape of the map point and determines whether the identified peripheral shape is a plane or not. An information terminal device 1 adjusts a contribution rate of a map point (physical end point) having a non-plane peripheral shape, so as to be smaller than a contribution rate of a map point (plane pattern point) having a plane peripheral shape, in estimating the position and attitude of the camera.SELECTED DRAWING: Figure 1 |
