PROBLEM TO BE SOLVED: To provide an attitude measuring apparatus which can measure positions of each of sections of a human body in a real space.SOLUTION: An attitude measuring apparatus includes: a storage unit 4 which stores a body structure model representing positions of sections adjacent to a plurality of sections of a human body, and lengths from the sections to the adjacent sections, and reliability information that indicates whether the reliability representing the likelihood of measurement accuracy of a position in a real space corresponds to fist reliability or second reliability lower than the first reliability, for each section； a tracking unit 22 which determines a position, in the real space, of a first section having the first reliability of a person to be measured, on the basis of three-dimensional measurement data generated by a three-dimensional sensor 2 and a result of measuring a past position, in the real space, of the section； and a position estimating unit 23 which determines a position, in the real space, of a second section having the second reliability of the person to be measured, on the basis of positions of the first section in the real space and a length between the first and second sections to be determined on the basis of the body structure model.SELECTED DRAWING: Figure 3【課題】人物の部位ごとの実空間での位置を計測できる姿勢計測装置を提供する。【解決手段】姿勢計測装置は、人の複数の部位について、その部位に隣接する部位、及びその部位から隣接する部位までの長さを表す人体構造モデルと、各部位について、実空間での位置の計測精度の確からしさを表す信頼度が第１の信頼度となるか、第１の信頼度よりも低い第２の信頼度となるかを表す信頼度情報とを記憶する記憶部４と、測定対象人物についての第１の信頼度を持つ第１の部位の実空間での位置を、３次元センサ２により生成された３次元計測データと過去のその部位の実空間での位置の計測結果に基づく追跡処理によって求める追跡部２２と、測定対象人物についての第２の信頼度を持つ第２の部位の実空間での位置を、複数の第１の部位の実空間での位置と人体構造モデルに基づいて定められる第１の部位と第２の部位間の長さに基づいて求める位置推定部２３とを有する。【選択図】図３
