Camera pose estimation device and control method

摘要

A method includes determining movement of a camera from a first time point when a first image has been captured to a second time point when a second image has been captured, performing first estimation processing for estimating a position and pose of the camera in the second time point based on image data at the time of capturing, a past image captured in the past, and a past position and pose of the camera at a time point when the past image has been captured, when the movement is not a translational movement and a rotation movement around an optical direction, and performing a second estimation processing for estimating the position and pose based on a feature descriptor of a feature point extracted from the second image and a feature descriptor of a map point accumulated when the movement is the translational movement or the rotational movement.