To identify the position and attitude of an image pickup device by simultaneously utilizing a plurality of feature points and correcting the position and the attitude of the image pickup device without distorting space.
A signal indicating the position and the attitude of an HMD (Head Mount Display) is inputted from a sensor (S201). On the basis of a signal indicating a measurement result, viewing conversion is computed in the form of a conversion matrix (S202). Then the locations of the feature points at known locations in the actual world are converted from a world coordinate system into a camera coordinate system, and are computed into an image surface by perspective projection (S203). The image of an actual space is acquired from a camera (S204), and the feature points are detected from the picked-up image S205). On the basis of displacements between projected points of the feature points and detected points of the feature points, the correction of error of a sensor is processed (S206).
SATO KIYOHIDE
TAKEMOTO KAZUKI
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