Imaging apparatus, rotation angle estimation method, and rotation angle estimation program

摘要

PROBLEM TO BE SOLVED: To estimate, from a range image, an angle at which an apparatus axis defined by a structure of an imaging apparatus capturing the range image is rotated from a spatial axis defined by a structure or the like in a real space.SOLUTION: An imaging apparatus 6 includes a TOF camera 4 and an information processor 5. The TOF camera 4 captures a range image. The information processor 5 includes a reference setting unit 17 and an estimation unit 18. The reference setting unit 17 sets two reference points on the range image on the basis of a platform end part IC and acquires a positional relation on the range image between the two reference points. Assuming that the two reference points have a parallel positional relation with one of three spatial axes on the range image, the estimation unit 18 estimates such angles of rotation around three apparatus axes as to align three apparatus axes with three spatial axes respectively.