PURPOSE: To make it possible to seek a parameter showing the position and attitude of a camera in a relatively simple and quick manner by constituting it from an image processing operation, a search area setting process, a through-vision transformation matrix operating process, a through-vision transformation operating process, an error operating process and a data outputting process.

CONSTITUTION: This recognition method of a three-dimensional position-and-attitude based on visual sensation is featured that the image characteristic point of a work picked up by a camera 4 is operated by an image processing part 7. In succession, a space search area with a quantized space point set at the specified density by a quantization search part 10, is set by a search area setting part 11, and an estimate image characteristic point to lee securable at a time when the work is photographed by the camera 4 is operated for seeking a through-vision transformation matrix at the respective quantized space points, while a slippage with the image characteristic point is operated by an error evaluation function. Thus, when the specified request error accuracy is satisfied, the quantized space point and an attitude parameter at that time are outputted from a data output part 16 as the position and attitude of the camera 4.