Information processing apparatus, information processing method, and computer program

A computer program product having a non-transitory computer readable medium including programmed instructions stored thereon, wherein the instructions, when executed by a computer, cause the computer to function as:

• a correspondence relationship acquisition unit configured to calculate a plurality of image features from a plurality of images captured by a camera and acquire a correspondence relationship between the image features;
• a selection unit configured to:
• select, among a plurality of correspondence relationships, a correspondence relationship with effectiveness of the correspondence relationship that is equal to or higher than an effectiveness threshold, and
• if the effectiveness of the correspondence relationship is lower than the effectiveness threshold, eliminate the correspondence relationship with the effectiveness lower than the effectiveness threshold based on an influence on at least one of the images when the correspondence relationship with the effectiveness lower than the effectiveness threshold is eliminated;
• and
• a calculation unit configured to calculate at least one of a position and direction of the camera and three-dimensional information on the image features from the correspondence relationship selected from among the correspondence relationships, wherein,
• at least one of the images includes an image other than an image for which the correspondence relationship with the effectiveness lower than the effectiveness threshold is eliminated.

An information processing method implemented by a computer of an information processing apparatus, the method comprising:

• calculating a plurality of image features from a plurality of images captured by a camera and acquiring a correspondence relationship between the image features;
• selecting, among a plurality of correspondence relationships, a correspondence relationship with effectiveness of the correspondence relationship that is equal to or higher than an effectiveness threshold;
• if the effectiveness of the correspondence relationship is lower than the effectiveness threshold, eliminating the correspondence relationship with the effectiveness lower than the effectiveness threshold based on an influence on at least one of the images when the correspondence relationship with the effectiveness lower than the effectiveness threshold is eliminated;
• and
• calculating at least one of a position and direction of the camera and three-dimensional information on the image features from the correspondence relationship selected from among the correspondence relationships, wherein
• at least one of the images includes an image other than an image for which the correspondence relationship with the effectiveness lower than the effectiveness threshold is eliminated.