A calibration information calculation unit 340 calculates the first
coordinate positions of feature points included in images obtained by an
image sensing apparatus at timings from an instruction unit 350 using
position data, on world coordinate system, of a plurality of feature
points held by a world coordinate holding unit 310 and the measured
values of a position/posture sensor 130 input to a data management unit
330 at the timings. The unit 340 receives the second coordinate
positions, which are acquired by an image coordinate acquisition unit
320, of the feature points included in the images obtained by the image
sensing device at the timings. The unit 340 calculates calibration
information using the first and second coordinate positions.