Position-posture calculation method and position-posture calculation program

摘要

PROBLEM TO BE SOLVED: To obtain a shooting position and a posture at high speed and with high accuracy. SOLUTION: In an image feature comparison process (S1), a 3D environment map A111 under an elevated structure having an "image shooting position" within a predetermined distance from a GPS position "◎" 120 of the image to be processed 100 and an elevated image. The 3D environment map B112 and the 3D environment map B112 are selected from the 3D environment map DB110. The "created image information" (created image information in "○" 121 and "○" 122) having the closest shooting position in each of the two maps is specified. The image feature appearance information in the image of the created image information of the two specified maps is compared with the image feature (histogram or the like) of the calculated processed target image 100. In the 3D environment map acquisition process (S2), the 3D environment map (“3D environment map A” 111 determined to have high similarity) is specified (acquired) from the 3D environment map DB 110 based on the comparison result, and the position / orientation estimation process is performed. In (S3), the position and orientation are estimated. [Selection diagram] Fig. 1