Calibration system, calibration method, and calibration apparatus

A calibration system, comprising:

• a robot arm;
• an image capturing apparatus;
• and
• a calibration apparatus,
• the robot arm including, at a tip, a holding portion configured to hold an object to be held,
• the image capturing apparatus being configured to generate at least one captured image by capturing an image of the robot arm from a predetermined direction,
• the calibration apparatus including
• a first coordinate generation unit configured to generate first coordinate information based on a learning model generated by performing machine learning on plural pieces of supervised data and a captured image obtained by image capturing the robot arm from a predetermined direction, the first coordinate information indicating a position of the holding portion in a captured image coordinate system with respect to the captured image, the supervised data including a captured image of a virtual space containing a three-dimensional model related to the robot arm and information indicating a position of the holding portion of the robot arm contained in the virtual space, and
• a conversion unit configured to coordinate-convert the first coordinate information into second coordinate information based on coordinate conversion information and the first coordinate information, the coordinate conversion information being used for coordinate conversion processing of coordinate-converting the first coordinate information into the second coordinate information, the second coordinate information indicating a position of the holding portion in a robot coordinate system with respect to the robot arm.