Fujitsu Ref. No.: 14-01621 A three-dimensional coordinate computing apparatus includes an image selecting unit and a coordinate computing unit. The image selecting unit selects a first selected image from multiple captured images, and selects a second selected image from multiple subsequent images captured by the camera after the first selected image has been captured. The second selected image is selected based on a distance between a position of capture of the first selected image and a position of capture of each of the multiple subsequent images and the number of corresponding feature points, each of which corresponds to one of feature points extracted from the first selected image and one of feature points extracted from each of the multiple subsequent images. The coordinate computing unit computes three-dimensional coordinates of the multiple corresponding feature points based on two-dimensional coordinates of each corresponding feature point in the first and second selected images. CN cy') CN L-U- Q- cl- C/D LU cf3 LU (D LU Lu C)- Lu I F) LU (D Lu D ClU:) C) C) LU F) (If (D AFT (D CD CD U:) C) D Of C:) n LU LU C)_ LU M CO CD LU LU LU C'e) CO CD LU LU LU C) (D I CD 4 LU LU C/D (If x CY) C/D Lu Lu C) LU C) m Q ------- LU CN.-,: LU co Q -< cn OBTAIN IMAGE s11 DETECT MARKER S12 COMPUTE POSITION AND Si 3 ATTITUDE INFORMATION , S14 /CAMERA POSITION DETERMINATION NUMBER /1 0 Si5 ,XTRCT TRACK FEATURE POINT NO IS THERE USER INPUT?: S20 YES S21 STORE AS FIRST IMAGE CE PIOTE E IAGE (--,,l7 -, S21 C OIS CONDITION SATISFIED? REXTRACT FEATURE POINT / NO STOYEA S 22IAG INCREMENT CAMERA POSITION8 STRFSSCNMG DETERMINATION NUMBER COMPUTE COORDINATES OF CORRESPONDING FEATURE POINT , S142 CONVERT COORDINATES, REGISTER ON FEATURE POINT MAP END )
Three-dimensional coordinate computing apparatus, three-dimensional coordinate computing method, and non-transitory computer readable recording medium having therein program for three-dimensional coordinate computing