PROBLEM TO BE SOLVED: To provide a posture estimation device capable of highly accurately estimating a posture of an object comprising a plurality of parts.SOLUTION: The posture estimation device includes: an image input part 140 for acquiring an image for which an object is photographed a posture information database 110 for holding posture information which defines arrangement of the plurality of parts for each posture a fitting part 160 for calculating a correlation degree for each part between the arrangement of the plurality of parts in the image and the posture information a difficulty level information table 130 for holding an estimation difficulty level which is a level of difficulty of estimation of a position of each part for each posture, that is calculated on the basis of a parallel line component of each part included in the posture information and a posture estimation part 170 for applying weighting based on the estimation difficulty level to the correlation degree, and estimating the posture of the object on the basis of the weighted correlation degree.COPYRIGHT: (C)2013,JPO&INPIT【課題】複数の部位から成る物体の姿勢を高精度に推定することができる姿勢推定装置を提供すること。【解決手段】物体を撮影した画像を取得する画像入力部140と、姿勢ごとに複数の部位の配置を規定する姿勢情報を保持する姿勢情報データベース110と、画像における複数の部位の配置と、姿勢情報との間で、部位ごとの相関度を算出するフィッティング部160と、姿勢情報に含まれる部位のそれぞれの平行線成分に基づいて算出された、姿勢ごとに部位のそれぞれの位置の推定の難しさの度合いである推定難度を保持する難度情報テーブル130と、相関度に対して、推定難度に基づく重み付けを適用し、重み付けされた相関度に基づいて、物体の姿勢の推定を行う姿勢推定部170とを有する。【選択図】図1
