Abstract: A method includes specifying a position of a virtual object based on a position of a map point that is defined in a first map and indicates three-dimensional coordinates of a feature point, correcting the position of the virtual object based on positions of a plurality of map points defined in a second map and a capturing direction of a camera when the first map is changed to the second map that is different from the first map, and controlling a display to display the virtual object, based on the corrected position of the virtual object and an image captured by the camera.

Abstract: A computer estimates a first position of an image capturing apparatus by using a prescribed number of combinations that correlate projection lines to feature lines. The projection lines are obtained by projecting candidate lines included in shape information of an object onto an image. Then, the computer generates a first projection line by projecting another candidate line onto the image using the first position, and selects a feature line that corresponds to the first projection line. Subsequently, the computer estimates a second position of the image capturing apparatus by using a combination that correlates the first projection line to the selected feature line. The computer generates a second projection line by projecting the other candidate line onto the image using the second position, and determines a third position of the image capturing apparatus according to an indicator of an interval between the second projection line and the other feature line.

Abstract: An image processing apparatus, includes a processor configured to obtain a marker image including a first pixel area including a first image indicating a shape of an outer frame and a second pixel area and a second image arranged within the outer frame, extract an intersecting point of a first line segment in parallel with a boundary between the first pixel area and the second pixel area which are adjacent to each other along a predetermined direction and a second line segment in parallel with a boundary between the first pixel area and the second pixel area which are adjacent to each other along a direction perpendicular to the predetermined direction, a first apex indicating an apex of four corners of the outer frame, and a second apex included in the second image, and identify a display position using the intersecting point, the first apex, or the second apex.

Abstract: A method includes associating a plurality of first feature points with a plurality of second feature points, the plurality of first feature points being included in a keyframe that represents a first captured image at a first time when a position and an orientation of a camera are successfully estimated, the plurality of second feature points being included in a second captured image captured at a second time, calculating vectors based on feature descriptors of the first feature points and feature descriptors of the second feature points for respective pairs of the first feature points and the second feature points, determining whether an association of the first feature points and the second feature points is satisfactory, and performing an estimation process that estimates a new position and a new orientation of the camera at the second time when the association is determined to be satisfactory.

Abstract: An estimation method executed by a computer includes: extracting, from an image, a plurality of characteristic points satisfying a certain requirement regarding changes in gray levels between the plurality of characteristic points and surrounding points; identifying, as map points from the plurality of characteristic points, characteristic points existing on planes, by excluding corners of an object depicted on the image; extracting, from another image, another plurality of characteristic points satisfying the certain requirement; executing matching of the another plurality of characteristic points with the map points based on a region including the map points; and estimating, based on results of the matching, a position and an orientation of an imaging device while the another image is captured.

Abstract: An estimation method executed by a computer includes: extracting, from an image, a plurality of characteristic points satisfying a certain requirement regarding changes in gray levels between the plurality of characteristic points and surrounding points; identifying, as map points from the plurality of characteristic points, characteristic points existing on planes, by excluding corners of an object depicted on the image; extracting, from another image, another plurality of characteristic points satisfying the certain requirement; executing matching of the another plurality of characteristic points with the map points based on a region including the map points; and estimating, based on results of the matching, a position and an orientation of an imaging device while the another image is captured.

Abstract: An image processing method includes acquiring a three-dimensional model obtained by modeling a plurality of objects included in a work space, acquiring, from a camera which is hold by a user, an image captured by the camera, the user existing in the work space, acquiring, from a sensor which is hold by the user, distance information indicating distances between the sensor and each of the plurality of objects, determining a position of the user in the work space based on the three-dimensional model and the distance information, identifying a predetermined region closest to the position of the user among at least one of predetermined regions defined in the three-dimensional model, generating a display screen displaying the predetermined region and the image, and outputting the display screen to another computer.

Abstract: An orientation estimation apparatus estimates a position and an orientation of an image capturing unit based on positions of a marker on the image and in the real space when the maker is detected; and based on positions of feature points on the captured image and in the real space, and initial values of the position and the orientation of the unit when the maker is not detected. Further, the apparatus calculates a failure index from a first image acquired while the position and the orientation are estimated by the position of marker, where the failure index indicates a possibility that the detection of the marker is failed. When the failure index satisfies a shift-preparation-start reference, the initial values are set from the position and the orientation estimated by the position of the marker on the image having been acquired in a predetermined period before the first image.

Abstract: A device includes a processor configured to execute a first estimation process including detecting a marker from a captured image, and estimating first position and posture of a camera at a time when the captured image is captured, based on a shape of the marker, execute a second estimation process including obtaining a map point in a three-dimensional space from the memory, and estimating second position and posture of the camera at the time when the captured image is captured, based on a correspondence between a projection point in which the map point is projected on the captured image and a characteristic point extracted from the captured image, and select the first position and posture or the second position and posture based on a result of comparison between a first translational component of the first position and posture and a second translational component of the second position and posture.

Abstract: A device includes a memory configured to store map point information including a first map point group indicating a three-dimensional position of an object measured by a distance sensor and a second map point group indicating a three-dimensional position of the object determined based on captured images and a processor configured to compare a first projection point group of the first map point group with a feature point group extracted from a new captured image, create pairs of a feature point in the feature point group and a first projection point that is similar to the feature point, when the number of the pairs is less than or equal to a threshold, compare a second projection point group of the second map point group with the feature point group, create other pairs of the feature point and a second projection point, and estimate a position and attitude of a camera.

Abstract: A method includes determining movement of a camera from a first time point when a first image has been captured to a second time point when a second image has been captured, performing first estimation processing for estimating a position and pose of the camera in the second time point based on image data at the time of capturing, a past image captured in the past, and a past position and pose of the camera at a time point when the past image has been captured, when the movement is not a translational movement and a rotation movement around an optical direction, and performing a second estimation processing for estimating the position and pose based on a feature descriptor of a feature point extracted from the second image and a feature descriptor of a map point accumulated when the movement is the translational movement or the rotational movement.

Abstract: A coordinate-conversion-parameter determination apparatus includes a marker detector that detects feature points of a marker from each of a first and second images; a three-dimensional position determiner that calculates three-dimensional coordinates of each of the feature points of the marker in a camera coordinate system in which reference is a first place, based on positions of the feature points in the first and second images; and a coordinate-conversion-parameter determiner that calculates a coordinate conversion parameter so that a sum of absolute values of errors between three-dimensional coordinates in a world coordinate system, the three-dimensional coordinates in the world coordinate system being obtained by converting the three-dimensional coordinates of the feature points of the marker in the camera coordinate system by using the coordinate conversion parameter, and three-dimensional coordinates of feature points in the world coordinate system that correspond to the feature points of the marker in

Abstract: An image processing apparatus, includes a processor configured to obtain a marker image including a first pixel area including a first image indicating a shape of an outer frame and a second pixel area and a second image arranged within the outer frame, extract an intersecting point of a first line segment in parallel with a boundary between the first pixel area and the second pixel area which are adjacent to each other along a predetermined direction and a second line segment in parallel with a boundary between the first pixel area and the second pixel area which are adjacent to each other along a direction perpendicular to the predetermined direction, a first apex indicating an apex of four corners of the outer frame, and a second apex included in the second image, and identify a display position using the intersecting point, the first apex, or the second apex.

Abstract: An image processing device includes: a processor; and a memory which stores a plurality of instructions, which when executed by the processor, cause the processor to execute, acquiring an image to be displayed including a two-dimensional code and a positioning pattern superimposed, wherein the two-dimensional code defines information to be displayed on the basis of an image pattern including a first pixel value and a second pixel value, wherein the positioning pattern defines reference coordinates to display the information to be displayed; extracting the two-dimensional code from the image, using a first color component to extract a pixel value identified as the first pixel value and a pixel value identified as the second pixel value; and extracting the positioning pattern from the image using a second color component that identifies as identical to the first pixel value both pixel values that are identified as the first and second pixel values.

Abstract: An estimation method executed by a computer includes: extracting, from an image, a plurality of characteristic points satisfying a certain requirement regarding changes in gray levels between the plurality of characteristic points and surrounding points; identifying, as map points from the plurality of characteristic points, characteristic points existing on planes, by excluding corners of an object depicted on the image; extracting, from another image, another plurality of characteristic points satisfying the certain requirement; executing matching of the another plurality of characteristic points with the map points based on a region including the map points; and estimating, based on results of the matching, a position and an orientation of an imaging device while the another image is captured.

Abstract: A three-dimensional coordinate computing apparatus includes an image selecting unit and a coordinate computing unit. The image selecting unit selects a first selected image from multiple captured images, and selects a second selected image from multiple subsequent images captured by the camera after the first selected image has been captured. The second selected image is selected based on a distance between a position of capture of the first selected image and a position of capture of each of the multiple subsequent images and the number of corresponding feature points, each of which corresponds to one of feature points extracted from the first selected image and one of feature points extracted from each of the multiple subsequent images. The coordinate computing unit computes three-dimensional coordinates of the multiple corresponding feature points based on two-dimensional coordinates of each corresponding feature point in the first and second selected images.

Abstract: An image processing device includes a processor; and a memory which stores a plurality of instructions, which when executed by the processor, cause the processor to execute, acquiring a captured image; extracting a first feature amount and a second feature amount of a user included in the image, and a third feature amount indicative of a likelihood of a portion from which the second feature amount is extracted; generating an authentication table including a plurality of the first feature amounts, a plurality of the second feature amounts, and a plurality of the third feature amounts extracted from a plurality of the images; and selecting the third feature amount extracted at authentication of the user, and the first feature amount and the second feature amount included in the authentication table, based on the third feature amount included in the authentication table, and authenticating the user based on the first feature amount.

Abstract: An orientation estimation apparatus estimates a position and an orientation of an image capturing unit based on positions of a marker on the image and in the real space when the maker is detected; and based on positions of feature points on the captured image and in the real space, and initial values of the position and the orientation of the unit when the maker is not detected. Further, the apparatus calculates a failure index from a first image acquired while the position and the orientation are estimated by the position of marker, where the failure index indicates a possibility that the detection of the marker is failed. When the failure index satisfies a shift-preparation-start reference, the initial values are set from the position and the orientation estimated by the position of the marker on the image having been acquired in a predetermined period before the first image.

Abstract: An image processing device includes: a memory that stores a program including a procedure; and a processor that executes the program, the procedure including: acquiring an image including a plurality of pixels, and changing luminance of the pixel that is included in either a high luminance part of a barcode region or a low luminance part the barcode region, the barcode region being set on the image, based on a luminance difference between the high luminance part and the low luminance part.

Abstract: An image processing device includes: a processor; and a memory which stores a plurality of instructions, which when executed by the processor, cause the processor to execute, acquiring an image to be displayed including a two-dimensional code and a positioning pattern superimposed, wherein the two-dimensional code defines information to be displayed on the basis of an image pattern including a first pixel value and a second pixel value, wherein the positioning pattern defines reference coordinates to display the information to be displayed; extracting the two-dimensional code from the image, using a first color component to extract a pixel value identified as the first pixel value and a pixel value identified as the second pixel value; and extracting the positioning pattern from the image using a second color component that identifies as identical to the first pixel value both pixel values that are identified as the first and second pixel values.