Information processing apparatus, information processing method, and program

An information processing method executed by a computer, the method comprising:

• calculating a three-dimensional position of a feature point on a basis of each of images obtained by imaging a subject at a first timing by a plurality of cameras and an external parameter of the plurality of cameras, the feature point being included in each of the images;
• estimating a first external parameter on a basis of one image included in the images obtained by imaging the subject at a second timing by the plurality of cameras and the three-dimensional position of the feature point, the first external parameter being an external parameter of a camera that has captured the one image among the plurality of cameras at the second timing;
• estimating a second external parameter that is an external parameter of any one camera of the plurality of cameras at the first timing on a basis of the first external parameter estimated;
• and
• determining whether or not a deviation related to the external parameter has occurred in the plurality of cameras on a basis of the second external parameter of any one camera of the plurality of cameras and a previous external parameter of the any one camera, the second external parameter having been estimated.

A program causing a computer to implement:

• a calculation function that calculates a three-dimensional position of a feature point on a basis of each of images obtained by imaging a subject at a first timing by a plurality of cameras and an external parameter of the plurality of cameras, the feature point being included in each of the images;
• a first estimation function that estimates a first external parameter on a basis of one image included in the images obtained by imaging the subject at a second timing by the plurality of cameras and the three-dimensional position of the feature point, the first external parameter being an external parameter of a camera that has captured the one image among the plurality of cameras at the second timing;
• a second estimation function that estimates a second external parameter that is an external parameter of any one camera of the plurality of cameras at the first timing on a basis of the first external parameter estimated by the first estimation function;
• and
• a determination function that determines whether or not a deviation related to the external parameter has occurred in the plurality of cameras on a basis of the second external parameter of any one camera of the plurality of cameras and a previous external parameter of the any one camera, the second external parameter having been estimated by the second estimation function.