Abstract: A method of the present disclosure includes (a) generating an input image by imaging a scene containing the M objects by a camera, (b) obtaining a feature map showing feature amounts relating to the N keypoints from the input image using a learned machine learning model with the input image as input and the feature map as output, (c) obtaining three-dimensional coordinates of the N keypoints belonging to each of the M objects using the feature map, and (d) determining positions and attitudes of one or more objects of the M objects using the three-dimensional coordinates of the N keypoints belonging to each of the M objects, wherein (c) includes (c1) obtaining M×N keypoints having undetermined correspondence relationships with the M objects and determining the three-dimensional coordinates of the M×N keypoints, and (c2) grouping the M×N keypoints to the N keypoints belonging to each of the M objects.