Index layout measurement method, position and orientation estimation method, index layout measurement apparatus, and position and orientation estimation apparatus

Abstract

An index layout measurement method and apparatus measures a relative layout relationship between a first index or index group which exists in a given first region in a physical space and a second index or index group which exists in a second region. The method includes a first image sensing step of sensing an image so as to simultaneously include some or all of the first index/index group and an auxiliary index which is temporarily laid out in the physical space and a position and orientation in a three-dimensional space of which can be defined, a second image sensing step of sensing an image so as to simultaneously include some or all of the second index/index group and the auxiliary index, and a layout calculation step of calculating a relative layout relationship among the first index/index group, the auxiliary index, and the second index/index group from one or a plurality of images obtained by performing the first image sensing step once or repeating it a plurality of number of times, and one or a plurality of images obtained by performing the second image sensing step once or repeating it a plurality of number of times. The auxiliary index is removed after the layout relationship among the respective indices laid out in the physical space is calculated.