Patent ID: 7397930

Claim:
A method for estimating a position and an orientation of an object in a real space, the method comprising: (a) inputting position and orientation values from a sensor fixed to the object; (b) inputting a picked-up image obtained by picking up an image of the real space by an image pickup device; (c) detecting an index from the picked-up image; (d) selecting a correction method, from a plurality of correction methods, for calculating correction values for correcting the position and orientation values; (e) calculating correction values for the position and orientation values based on the detected index, using the selected correction method; (f) calculating correction values at a current time based on the correction values and a predetermined number of past correction values stored in a memory; (g) accumulating in the memory the correction values calculated in (f); and (h) correcting the position and orientation values based on the correction values calculated in (f).