Patent ID: 8861785

Claim:
An information processing device, comprising: at least one processor configured to: obtain position and attitude of a camera and three-dimensional positions of feature points corresponding to successively received images from two or more different viewpoints, the images being captured using the camera, and the camera moving within a space generate one or more submaps corresponding to an area for which the three-dimensional positions of the feature are to be calculated, the submaps are generated based on at least one of the number of captured frames or the capturing time; determine whether a number of feature points included within a first one of the submaps exceeds a predetermined threshold number; and when the number of feature points within the first submap exceeds the predetermined threshold number, divide the first submap into second and third submaps, the at least one processor configured to divide being further configured to: identify a center of gravity of the feature points within the first submap; determine first displacements between the feature points the first submap and the identified center gravity; and assign the feature points of the first submap to the second submap or the third submap based on the first, displacements.