Three dimensional position estimation device, three dimensional position estimation method, and three dimensional position estimation program

A three dimensional position estimation method comprising:

• receiving, as inputs, photographic image information of one photographic image, image feature points of the photographic image, image features of the image feature points, and three dimensional point cloud information regarding a three dimensional point cloud related to the photographic image;
• generating a virtual camera image obtained by projecting the three dimensional point cloud onto the virtual camera image;
• and
• estimating three dimensional positions of the image features, which are correspondence points of the three dimensional point cloud with respect to the image feature points by associating a pixel of the photographic image with a pixel of the virtual camera image at a same position as that of the pixel of the photographic image.

A three dimensional position estimation method comprising:

• receiving, as inputs, photographic image information of one photographic image, image feature points of the photographic image, image features of the image feature points, and three dimensional point cloud information regarding a three dimensional point cloud related to the photographic image;
• generating a virtual camera with a same position and orientation as a position and orientation of a camera that captures the photographic image in a three dimensional point cloud space, and drawing a virtual camera screen showing the three dimensional point cloud space with the virtual camera;
• estimating correspondence pixels of the photographic image and the virtual camera screen;
• and
• estimating three dimensional positions of the image features, which are correspondence points of the three dimensional point cloud with respect to the image feature points by estimating the correspondence points of the three dimensional point cloud with respect to the photographic image on a basis of the correspondence pixels.