Absolute scale depth calculation device, absolute scale depth calculation method, and computer program product

Abstract

According to an embodiment, an absolute scale depth calculation device includes a captured image acquisition unit, an ambiguous scale depth deriving unit, a position and posture acquisition unit, and an absolute scale depth deriving unit. The captured image acquisition unit is configured to acquire a plurality of captured images at different imaging time points from an imaging unit mounted on a moving body. The ambiguous scale depth deriving unit is configured to derive ambiguous scale depth information from a captured image. The position and posture acquisition unit is configured to acquire absolute scale position and posture information pertaining to the imaging unit when each of the plurality of captured images is captured. The absolute scale depth deriving unit configured to derive absolute scale depth information, based on a geometrical consistency from the plurality of captured images, the ambiguous scale depth information, and the absolute scale position and posture information.