Information processing apparatus, processing method thereof, and computer-readable storage medium

A processing method of an information processing apparatus that calculates information on a position and an orientation of an image capture device relative to an object captured by the image capture device, the method comprising:

• acquiring an image of the object captured by the image capture device;
• detecting an image feature indicating a line segment from the image acquired in the acquisition step;
• calculating a position and orientation of the image capture device based on correspondence between the image feature indicating the line segment detected in the detection step and a plurality of line segments, in three-dimensional information, that constitute the object held by a holding unit;
• and
• making a determination, for each of the line segments held by the holding unit, as to whether to use the line segment for the calculation of the position and orientation thereafter, based on at least one of a result of detection of the image feature in the detection step, and information acquired in the calculation of the position and orientation in the calculation step.

A computer-readable storage medium storing a computer program that causes a computer provided in an information processing apparatus that calculates information on a position and an orientation of an image capture device relative to an object captured by the image capture device, to function as:

• a holding unit configured to hold three-dimensional information including a plurality of line segments that constitute the object;
• an acquisition unit configured to acquire an image of the object captured by the image capture device;
• a detection unit configured to detect an image feature indicating a line segment from the image acquired by the acquisition unit;
• a calculation unit configured to calculate a position and orientation of the image capture device based on correspondence between the image feature indicating the line segment detected by the detection unit and the line segment held by the holding unit;
• and
• a determination unit configured to make a determination, for each of the line segments held by the holding unit, as to whether to use the line segment for the calculation of the position and orientation thereafter, based on at least one of a result of detection of the image feature by the detection unit, and information acquired in the calculation of the position and the orientation by the calculation unit.