Coordinate estimation system, coordinate estimation device, and coordinate estimation method

Abstract

This coordinate estimation system (100) includes an alignment means (101), a position attitude estimation means (102), and a coordinate estimation means (103). The alignment means (101) aligns a near field image obtained by imaging a first imaging area of the object with at least one far field image obtained by imaging a second imaging area larger than the first imaging area of the object and including the first imaging area. The position attitude estimation means (102) estimates an imaging position attitude including an imaging position and an imaging attitude in a point cloud coordinate system of at least one far field image on the basis of the point cloud of the object and the at least one far field image. The coordinate estimation means (103) estimates, on the basis of the point cloud, the alignment result by the alignment means, and the imaging position attitude, a specific pixel coordinate in the point group coordinate system of at least one specific pixel, which is an arbitrary pixel of the near field image.