Information processing apparatus and representative coordinate derivation method

An information processing apparatus comprising:

• a photographed image acquisition unit that acquires an image of a photographed device including a plurality of markers;
• and
• an estimation processing unit that estimates position information and posture information of the device on a basis of a marker image in the photographed image, wherein
• the estimation processing unit includes a marker image coordinate specifying unit that specifies representative coordinates of the marker image from the photographed image, and
• a position and posture derivation unit that uses the representative coordinates of the marker image to derive the position information and the posture information of the device, and
• the marker image coordinate specifying unit includes a first extraction processing unit that extracts a plurality of sets of first connected components of eight neighboring pixels from the photographed image,
• a second extraction processing unit that extracts a plurality of sets of second connected components from the first connected components extracted by the first extraction processing unit, and
• a representative coordinate derivation unit that derives the representative coordinates of the marker image on a basis of the pixels of the first connected components extracted by the first extraction processing unit and/or the pixels of the second connected components extracted by the second extraction processing unit.