A computer readable recording non-transitory medium which stores a program which causes a computer to execute:
- a first setting step of setting a relative position-and-posture relationship between a three-dimensional-shaped model of an object and a viewpoint from which the three-dimensional-shaped model is observed as a base position-posture;
- a detection step of detecting geometric features of the three-dimensional-shaped model observed from the viewpoint in the base position-posture as base geometric features;
- a second setting step of setting a relative position-and-posture relationship between the three-dimensional-shaped model of the object and a viewpoint from which the three-dimensional-shaped model is observed as a reference position-posture which is different from the base position-posture;
- a retrieval step of retrieving reference geometric features corresponding to the base geometric features of the three-dimensional-shaped model observed from the viewpoint in the reference position posture;
- a first calculating step of calculating a degree of similarity between the base geometric features and the reference geometric features;
- and
- a second calculation step of calculating evaluation values of correspondences between the base geometric features and the reference geometric features based on the degree of similarity.