Position and orientation calculation method, non-transitory computer-readable storage medium, and information processing apparatus

The position and orientation calculation method according to claim wherein

• the specified calculation environment map includes route information, which is similar to at least any one of a movement route or a movement direction in the second route information acquired by the target moving object or the acquisition apparatus mounted on the target moving object.

The position and orientation calculation method according to claim further comprising:

• deploying the plurality of environment maps in a memory in advance in another information processing apparatus that calculates a position and orientation when the target moving object or the acquisition apparatus mounted on the target moving object acquires the data;
• and
• specifying the other information processing apparatus in which the specified calculation environment map is deployed in the memory.

The position and orientation calculation method according to claim further comprising:

• creating a search index for the first route information;
• and
• searching the plurality of environment maps by using the index.

A non-transitory computer-readable storage medium storing a program that causes a processor included in an information processing apparatus to execute a process, the process comprising:

• comparing first route information of a plurality of environment maps including an acquisition position when a moving object or an acquisition apparatus mounted on the moving object acquires data with second route information acquired from a target moving object or an acquisition apparatus mounted on the target moving object whose position and orientation is to be calculated;
• and
• specifying a calculation environment map to be used for calculation of a position and orientation when the target moving object or the acquisition apparatus mounted on the target moving object acquires the data, from the plurality of environment maps, based on a result of the comparison.