Object position estimation for information creating apparatus, object position estimation for information how to create and program

摘要

Scoring means 62, and a point in the real space and the image acquisition unit, a score indicating the point in the real space is or are represented ish how the object within each image by the image acquiring unit by the plurality of acquired each I prescribed in each combination. By using a non-target object presence information indicating where non-target object hiding the target object to the image obtaining means exists, visibility state determination means 63, field of view to each point in the real space from the image acquiring means and determines the state, according to the determination result, to determine the probability density function of the score. Existence probability calculation unit 64 obtains the presence probability of the target object at each point by using the probability density function of each combination of a point in the real space image acquisition means. Estimation information creating means 65, to create a position estimation for information from the existence probability.