Location estimation device, location estimation method, and program recording medium

A location estimation method comprising:

• executing video processing including location estimation of an imaging unit based on a plurality of feature points extracted from a video, the video being captured by the imaging unit and composed of a plurality of frames;
• and
• selecting, based on video-related information acquired in the video processing on a first frame belonging to a first group out of the plurality of frames, an exposure condition from exposure conditions of the imaging unit in a second frame belonging to a second group out of the plurality of frames, the second group being different from the first group, the selected exposure condition satisfying that a plurality of identical feature points are extracted from the first frame and the second frame.

A non-transitory computer-readable program recording medium that records a program for causing a computer to execute:

• executing video processing including location estimation of an imaging unit based on a plurality of feature points extracted from a video, the video being captured by the imaging unit and composed of a plurality of frames;
• and
• selecting, based on video-related information acquired in the video processing on a first frame belonging to a first group out of the plurality of frames, an exposure condition from exposure conditions of the imaging unit in a second frame belonging to a second group out of the plurality of frames, the second group being different from the first group, the selected exposure condition satisfying that a plurality of identical feature points are extracted from the first frame and the second frame.