Device for measuring position and orientation of imaging apparatus and method therefor

An information processing method for an information processing device including a holding unit configured to hold pieces of reference data including a captured image, a position and an orientation of an imaging apparatus when the image is captured, and three-dimensional information of a feature in a space corresponding to the image, the captured image, the position and the orientation, and the three-dimensional information being associated with each other, the method comprising:

• inputting an image captured by the imaging apparatus;
• deriving a position and an orientation of the imaging apparatus when the input image is captured on the basis of the pieces of reference data and the input image;
• determining whether a new piece of reference data is to be added on the basis of the derived position and orientation and the pieces of reference data;
• generating, in a case where it is determined that the new piece of reference data is to be added, a new piece of reference data on the basis of the input image, the derived position and orientation and three-dimensional information of a feature in one of the pieces of reference data;
• and
• adding the generated piece of reference data and updating the pieces of reference data.

A non-transitory computer-readable storage medium storing a program causing a computer to function as:

• a holding unit configured to hold pieces of reference data including a captured image, a position and an orientation of an imaging apparatus when the image is captured, and three-dimensional information of a feature in a space corresponding to the image, the captured image, the position and the orientation, and the three-dimensional information being associated with each other;
• an input unit configured to input an image captured by the imaging apparatus;
• a derivation unit configured to derive a position and an orientation of the imaging apparatus when the input image is captured on the basis of the pieces of reference data and the input image;
• an addition determination unit configured to determine whether a new piece of reference data is to be added on the basis of the derived position and orientation and the pieces of reference data;
• a generating unit configured to, in a case where the addition determination unit determines the new piece of reference data is to be added, generate a new piece of reference data on the basis of the input image, the derived position and orientation, and three-dimensional information of a feature in one of the pieces of reference data;
• and
• an updating unit configured to add the generated piece of reference data and update the pieces of reference data.