PROBLEM TO BE SOLVED: To accurately estimate a position and an attitude of an object.SOLUTION: A template storage unit stores a template showing a shape of an object. A window area setting unit sets a window area of predetermined size in an image photographed by an imaging unit and showing the shape of the object. A flat surface extraction unit extracts flat surfaces of the object on the basis of an image included in the window area. A selection unit selects the largest flat surface of the flat surfaces extracted by the flat surface extraction unit. A collation unit collates the flat surface selected by the selection unit with the shape of the object shown by the template stored in the template storage unit.SELECTED DRAWING: Figure 2
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