Disclosed is a server that specifies the relative position and orientation relationship of a plurality of markers not included in the same frame, without the use of auxiliary markers. In a feature point grouping association unit (107), feature points are grouped into small groups, followed between continuous frames and associated. Alternatively, small groups can be associated between separated frames by performing verification, if tracking of small groups between continuous frames is interrupted by a screen or by a sudden change to a camera angle, etc. In addition, two types of association data are generated and input to a camera and marker position and orientation estimation unit (109) according to the degree of substitution of small groups between any two frames read by a feature frame buffer (106) or a feature volume DB (108). Marker identification data from a marker identification unit (104) and the coordinates of same are handled as feature points. In the camera and marker position and orientation estimation unit (109), small groups associated using association data are handled as not having markers existing in actual space but as virtual markers that are defined by calculation and virtually, and camera position and orientation, markers, and virtual marker position and orientation are estimated and a world coordinate system conversion unit (113) is used to map to the world coordinate system.
SERVER USING WORLD COORDINATE SYSTEM DATABASE AND TERMINAL