Information processing device, information processing method, and information processing system

An information processing system comprising:

• an imaging device configured to capture an image to obtain a captured image;
• and
• an information processing device configured to control the imaging device,
• wherein the imaging device includes circuitry configured to
• detect an imaging direction of the imaging device,
• generate metadata including the detected imaging direction, and
• output the metadata in association with the captured image to the information processing device, and
• wherein the information processing device includes circuitry configured to detect, based on the captured image, a deviation of the imaging direction included in the metadata, and
• wherein the circuitry of the information processing device detects the deviation by using a rotation matrix calculated to minimize a root-mean square deviation between matched point clouds.