Pose estimation apparatus and vacuum cleaner system

A non-transitory computer readable storage medium storing instructions of a computer program which when executed by a computer results in performance of stops comprising cause the computer to carry out pose estimation of a first camera of a stereo camera having a first and second camera whose imaging timings are not synchronous with each other, causing the computer to carry out the steps of:

• controlling the first camera that generates a first standard image captured at a first time and a second standard image captured at a second time;
• controlling the second camera that generates a first reference image associated with the first time and a second reference image associated with the second time;
• and
• estimating, based on the first standard image, the second standard image, the first reference image and the second reference image, (a) a pose of the first camera at the first time, with a pose of the first camera at the second time being regarded as a standard and (b) a positional shift of a position of the second camera when capturing the first reference image from an estimated ideal position of the second camera at the first time, wherein the estimated ideal position of the second camera at the first time is calculated by shifting the position of the first camera at the first time in accordance with a positional relationship between the first camera and the second camera, the estimation step comprising:
• searching for corresponding feature points in the first standard image, the second standard image, the first reference image and the second reference image,
• restoring positions of the feature points based on the second standard image and the second reference image, and
• estimating (a) and (b), such that an error between re-projected points obtained by projecting restored positions of the feature points on the first camera and the second camera at the first time and the feature points included in the first standard image and the first reference image is minimized.