Image pick-up apparatus, image pick-up method that picks up images for a visual simultaneous localization and mapping

An image pick-up method comprising:

• picking-up an image;
• performing a determination that includes at least one of edge determination, blur determination, or noise determination on the image;
• determining an adjustment direction of a camera parameter based on the determination;
• determining a change amount of the camera parameter based on the determination;
• and
• adjusting the camera parameter based on the adjustment direction and the change amount.

A non-transitory computer-readable storage medium storing a program for causing a computer to perform:

• picking-up an image;
• performing a determination that includes at least one of edge determination, blur determination, or noise determination on the image;
• determining an adjustment direction of a camera parameter based on the determination;
• determining a change amount of the camera parameter based on the determination;
• and
• adjusting the camera parameter based on the adjustment direction and the change amount.