Patent ID: 8391589
Filing Date: 2013-03-05
Classification: G01C,G01S,G06T

Abstract:
1. An information processing apparatus connected to an image sensing device which senses a movie of a physical space, comprising: a calculation unit configured to calculate a plurality of pieces of candidate position and orientation information based on a plurality of pieces of sensing position and orientation information stored in a memory as candidates of a sensing position and a sensing orientation of the image sensing device upon sensing an image of each frame for respective frames which form the movie; an evaluation unit configured to calculate evaluation values for the plurality of pieces of candidate position and orientation information; a selection unit configured to select one candidate position and orientation information based on the evaluation values from the plurality of pieces of candidate position and orientation information; and a recording unit configured to record the candidate position and orientation information selected by said selection unit in the memory as the sensing position and orientation information, wherein said calculation unit calculates the plurality of pieces of candidate position and orientation information based on a plurality of motion models, and wherein said evaluation unit comprises a correction unit configured to correct each candidate position and orientation information calculated by said calculation unit, and said evaluation unit calculates an evaluation value for the candidate position and orientation information corrected by said correction unit.