Patent attributes
A device includes a memory configured to store map point information including a first map point group indicating a three-dimensional position of an object measured by a distance sensor and a second map point group indicating a three-dimensional position of the object determined based on captured images and a processor configured to compare a first projection point group of the first map point group with a feature point group extracted from a new captured image, create pairs of a feature point in the feature point group and a first projection point that is similar to the feature point, when the number of the pairs is less than or equal to a threshold, compare a second projection point group of the second map point group with the feature point group, create other pairs of the feature point and a second projection point, and estimate a position and attitude of a camera.