A spatial motion calculation apparatus includes an image position relation
calculation unit that calculates first similarities based on an image
position relation between an inputted groups of feature points 1 and 2, a
spatial position relation calculation unit that calculates second
similarities based on an spatial position relation between said inputted
groups, a feature descriptor relation calculation unit that calculates
third similarities based on a feature descriptor relation between said
inputted groups, and a spatial motion calculation unit that estimates the
spatial motion based on the result that integrates the first to third
similarities.