Abstract: A distance measuring device is configured to: obtain a first distance image acquired from a time of flight (TOF) sensor and a polarized image generated by calculating a degree of polarization for each pixel based on a plurality of images acquired from a plurality of cameras that receives linearly polarized light with different polarization directions; and execute a process for calculating reliability according to a difference between a time of measuring a distance and a time of photographing the plurality of images for each pixel of the first distance image, and execute a process for calculating a distance from the TOF sensor to a subject for each pixel using a second distance image calculated by weighting the reliability to a distance of each pixel of the first distance image, and a third distance image calculated by estimating a distance of each pixel based on the polarized image.

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 image processing apparatus including a memory, and a processor configured to make a display device display an image captured by an image capturing device, measure a time for which a hand region remains still when detecting the hand region in a first specific shape corresponding to a designation operation of designating a part in the image, identify the part designated by the designation operation when the time for which the hand region remains still reaches a predetermined time, and make a display device display an image resulting from execution of predetermined image processing for the identified part when at least one of a hand region in a second specific shape and a specific movement of a hand region is detected in the image captured by the image capturing device.

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: 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 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: An information processing apparatus configured to store a plurality of images captured by an imaging device, store first position information and first orientation information indicating positions and orientations of the imaging device in capturing of each of the plurality of images, identify, among from the plurality of images, a first image resembling a second image, identify a first area included in the first image, identify a second area, included in the second image, corresponding to the first area, identify second position information and second orientation information indicating a position and an orientation of the imaging device respectively in capturing of the second image, based on a comparison between a first luminance of a first pixel included in the first area and a second luminance of a second pixel included in the second area and the first position information and the first orientation information of the first image.

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: 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 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 image processing method includes recognizing a first object that is included in the image data, calculating a positional variation amount of a feature point that corresponds to the first object and is moving in an image center direction so as to calculate a moving speed of the first object on the basis of the positional variation amount, determining whether or not the first object is a gaze target object of the user, in accordance with a behavior of the first object, the behavior being obtained on the basis of the positional variation amount of the first object among the plurality of image data, of which acquisition time is respectively different and whether or not the object continuingly exists in a second region, the second region being positioned in an inside of the first region and including a center point of the image data, for a predetermined period of time.

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 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: An image processing apparatus including a memory, and a processor configured to make a display device display an image captured by an image capturing device, measure a time for which a hand region remains still when detecting the hand region in a first specific shape corresponding to a designation operation of designating a part in the image, identify the part designated by the designation operation when the time for which the hand region remains still reaches a predetermined time, and make a display device display an image resulting from execution of predetermined image processing for the identified part when at least one of a hand region in a second specific shape and a specific movement of a hand region is detected in the image captured by the image capturing device.

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 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 including a first object captured by an image sensor; computing, from the image, flatness information on flatness of a projection plane of the first object on which a superimposed image is displayed; and defining a display position of the superimposed image on the basis of the flatness information.

Abstract: A method for inputting a character executed by a computer that inputs a character, the method includes: obtaining a first pressed position at which the pressing operation has been performed and a first key corresponding to the first pressed position; detecting deletion of a character input using the first key; obtaining, when the deletion is detected, a second pressed position at which a next pressing operation has been performed and a second key corresponding to the second pressed position; determining whether or not a distance between the first pressed position and the second key is smaller than or equal to a threshold; and correcting, when the distance is smaller than or equal to the threshold, a range that is recognized as the second key in the region on the basis of the first pressed position.

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.