Movement assisting device, movement assisting method, and computer program product

A movement assisting method comprising:

• taking a first image of an object from a first viewpoint;
• taking a second image of the object after moving to a second viewpoint from the first viewpoint;
• calculating, using the first image and the second image, a first position and a first orientation of the imaging unit at the first viewpoint;
• calculating a second position and a second orientation of the imaging unit at the second viewpoint;
• calculating, by referring to the first position, the first orientation, the second position, and the second orientation, a first angle formed between a first axis and a second axis, the first axis being based on a first optical axis of the imaging unit at the first viewpoint, the second axis being based on a second optical axis of the imaging unit at the second viewpoint;
• calculating a next viewpoint at which next imaging is to be performed and which is positioned in a direction of increase of the first angle, by rotating the second axis with reference to an intersection point of the first axis and the second axis;
• and
• outputting information prompting movement of the imaging unit in a direction of the next viewpoint from the second viewpoint.

A computer program product comprising a computer-readable medium including programmed instructions, wherein the instructions, when executed by a computer, cause the computer to perform:

• taking a first image of an object from a first viewpoint;
• taking a second image of the object after moving to a second viewpoint from the first viewpoint;
• calculating, using the first image and the second image, a first position and a first orientation of the imaging unit at the first viewpoint;
• calculating a second position and a second orientation of the imaging unit at the second viewpoint;
• calculating, by referring to the first position, the first orientation, the second position, and the second orientation, a first angle formed between a first axis and a second axis, the first axis being based on a first optical axis of the imaging unit at the first viewpoint, the second axis being based on a second optical axis of the imaging unit at the second viewpoint;
• calculating a next viewpoint at which next imaging is to be performed and which is positioned in a direction of increase of the first angle, by rotating the second axis with reference to an intersection point of the first axis and the second axis;
• and
• outputting information prompting movement of the imaging unit in a direction of the next viewpoint from the second viewpoint.