Abstract: In order to shorten the time required for a setting operation of features, an information processing apparatus includes an acquisition unit configured to acquire features used for deriving a positional attitude of an imaging device from an image captured by the imaging device, a setting unit configured to set a plurality of partial regions included in the image as a plurality of candidate regions to which a feature is to be added, an evaluation unit configured to evaluate the plurality of set candidate regions, a determination unit configured to determine a position and/or an orientation of a feature to be newly added based on the plurality of evaluated candidate regions, and an output unit configured to output the determined position and/or the orientation.

Abstract: An information processing apparatus for determining a placement of an image capturing apparatus capable of accurately measuring the position and orientation of an object through model fitting includes a holding unit that holds a 3D model representing a 3D shape of the object, a generating unit that generates candidates of the position and orientation of the image capturing apparatus relative to the object, an evaluating unit that evaluates the candidates of the position and orientation of the image capturing apparatus relative to the object based on a result of matching between data that virtually generates the object observed when the image capturing apparatus is placed in the position and orientation generated by the generating unit and the 3D model, and a determining unit that determines the position and orientation of the image capturing apparatus relative to the object based on the result of evaluation performed by the evaluating unit.

Abstract: An information processing device includes a holding unit which holds pieces of reference data including a captured image, a position and an orientation of an imaging apparatus when the image is captured, and three-dimensional information of a feature in a space corresponding to the image in association with each other, an input unit which inputs the captured image, a derivation unit which derives a position and an orientation of the imaging apparatus when the input image is captured, an addition determination unit which determines whether a new piece of reference data is to be added, a generating unit which, if the addition determination unit determines the new piece of reference data is to be added, generates a new piece of reference data, and an updating unit which adds the generated piece of reference data and updates the pieces of reference data.

Abstract: An apparatus comprises an unit configured to obtain captured images captured at a plurality of positions/orientations; an unit configured to generate a guidance instruction for causing a captured image corresponding to a position/orientation substantially the same as a captured image of a stipulated state to be obtained; an unit configured to output the guidance instruction; an unit configured to determine whether or not one captured image obtained after output of the guidance instruction was captured at a position/orientation substantially the same as the captured image of the stipulated state; and an unit configured to, if the one captured image is determined to be captured at the position/orientation, generate or update a three-dimensional map from three-dimensional coordinates of a feature included in a captured image based on the plurality of captured images including the one captured image.

Abstract: A position and orientation measuring apparatus calculates a difference between an image feature of a two-dimensional image of an object and a projected image of a three-dimensional model in a stored position and orientation of the object projected on the two-dimensional image. The position and orientation measuring apparatus further calculates a difference between three-dimensional coordinate information and a three-dimensional model in the stored position and orientation of the object. The position and orientation measuring apparatus then converts a dimension of the first difference and/or the second difference to cause the first difference and the second difference to have an equivalent dimension and corrects the stored position and orientation.

Abstract: An information processing apparatus: obtains a feature distribution by calculating a distribution of features, existing in an environment, that can be used to measure a position and orientation of a measurement viewpoint; decides on a feature pattern to be laid out and a layout position of the feature pattern in the environment that enable the obtainment of a feature distribution that enhances an accuracy at which the position and orientation of the measurement viewpoint is calculated; and presents the feature pattern and the layout position of the feature pattern that have been decided on.

Abstract: Whether a reference map can be changed is determined based on an index for evaluating a user's unlikeliness to notice a change in an appearance of a virtual object in an image captured by a camera, the change occurring when the reference map is changed to another map.

Abstract: Information processing apparatus that performs three-dimensional shape measurement with high accuracy at high speed while taking into account lens distortion of a projection device. An image input unit of an information processing apparatus inputs image data of a measurement object photographed by a camera in a state where a predetermined pattern light is projected by a projector. An association unit calculates associations between coordinates on the image data of the measurement object and coordinates on image data of the predetermined pattern light. A three-dimensional coordinate calculation unit calculates a viewing vector of the camera from which lens distortion thereof has been eliminated and a viewing vector of the projector to which lens distortion thereof has been added. The calculation unit calculates coordinates of a point, in a three-dimensional space, of intersection between the camera viewing vector and the projector viewing vector, for each association.

Abstract: An information processing apparatus includes: an input unit that inputs an image of real space captured by an image capturing apparatus; a measurement value input unit that inputs a measurement value regarding a position and orientation of the image capturing apparatus measured by a sensor attached to the image capturing apparatus; a position and orientation derivation unit that, based on three-dimensional information of a feature in the real space and the input image, derives a position and orientation of the image capturing apparatus; a determination unit that, based on the measurement value and the position and orientation of the image capturing apparatus derived by the position and orientation derivation unit, makes a determination as to whether derivation of the position and orientation of the image capturing apparatus performed by the position and orientation derivation unit has failed; and an output unit that outputs a result provided by the determination unit.

Abstract: A position and orientation measurement device includes a grayscale image input unit that inputs a grayscale image of an object, a distance image input unit that inputs a distance image of the object, an approximate position and orientation input unit that inputs an approximate position and orientation of the object with respect to the position and orientation measurement device, and a position and orientation calculator that updates the approximate position and orientation. The position and orientation calculator calculates a first position and orientation so that an object image on an image plane and a projection image of the three-dimensional shape model overlap each other, associates the three-dimensional shape model with the image features of the grayscale image and the distance image, and calculates a second position and orientation on the basis of a result of the association.

Abstract: An information processing apparatus includes a model storing unit configured to store a three-dimensional form model for acquiring the position and posture of a measurement target object, an image acquiring unit configured to acquire an image of the measurement target object, a first position and posture acquiring unit configured to acquire a first position and posture of the three-dimensional form model in a first coordinate system on the basis of a first geometric feature of the three-dimensional form model and a first geometric feature within the image, and a second position and posture acquiring unit configured to acquire a second position and posture of the three-dimensional form model in a second coordinate system that is different from the first coordinate system on the basis of a second geometric feature of the three-dimensional form model and a second geometric feature within the image and the first position and posture.

Abstract: An information processing apparatus configured to estimate a position and orientation of a measuring object using an imaging apparatus includes an approximate position and orientation input unit configured to input a relative approximate position and orientation between the imaging apparatus and the measuring object, a first position and orientation updating unit configured to update the approximate position and orientation by matching a three-dimensional shape model to a captured image, a position and orientation difference information input unit configured to calculate and acquire a position and orientation difference amount of the imaging apparatus relative to the measuring object having moved after the imaging apparatus has captured an image of the measuring object or after last position and orientation difference information has been acquired, and a second position and orientation updating unit configured to update the approximate position and orientation based on the position and orientation difference

Abstract: There is provided with an image processing apparatus. A captured image of a target object that is captured by an image capturing apparatus is obtained. Information that indicates a deterioration degree of the captured image is obtained for a position in the captured image. A feature of the target object is extracted from the captured image based on the deterioration degree. The feature of the target object and a feature of the three-dimensional model observed when the three-dimensional model is arranged in accordance with a predetermined position and orientation are associated. A position and orientation of the target object with respect to the image capturing apparatus are derived by correcting the predetermined position and orientation based on a result of association.

Abstract: A position and orientation measuring apparatus calculates a difference between an image feature of a two-dimensional image of an object and a projected image of a three-dimensional model in a stored position and orientation of the object projected on the two-dimensional image. The position and orientation measuring apparatus further calculates a difference between three-dimensional coordinate information and a three-dimensional model in the stored position and orientation of the object. The position and orientation measuring apparatus then converts a dimension of the first difference and/or the second difference to cause the first difference and the second difference to have an equivalent dimension and corrects the stored position and orientation.

Abstract: To perform a high-accuracy three-dimensional measurement by performing an appropriate calibration in accordance with various temperature changes, an information processing apparatus that decides a temperature-dependent parameter of a projection apparatus configured to project a pattern onto a measurement target object to perform a three-dimensional measurement includes a holding unit configured to hold a relationship in which the temperature-dependent parameter of the projection apparatus is set as a temperature function, a temperature input unit configured to input a temperature of the projection apparatus, and a temperature-dependent parameter decision unit configured to decide the temperature-dependent parameter of the projection apparatus based on the temperature of the projection apparatus which is input by the temperature input unit and the relationship.

Abstract: A three-dimensional measurement apparatus includes a model holding unit configured to hold a three-dimensional shape model of a measurement object and a determination unit configured to determine a distance measurement region on the measurement object based on information indicating a three-dimensional shape of the measurement object. The measurement object is irradiated with a predetermined illumination pattern by an illumination unit. An image of the measurement object is sensed while the illumination unit irradiates the measurement object. Distance information indicating a distance from the image sensing unit to the measurement object is calculated based on region corresponding to the distance measurement region within the sensed image. A position and orientation of the measurement object is calculated based on the distance information and the three-dimensional shape model.

Abstract: An information processing apparatus that calculates information on a position and an orientation of an image capture device relative to an object captured by the image capture device, holds three-dimensional information including a plurality of line segments that constitute the object, acquires an image of the object captured by the image capture device, detects an image feature indicating a line segment from the acquired image, calculates a position and orientation of the image capture device based on correspondence between the image feature indicating the detected line segment and the held line segment, and determines, for each of the held line segments, whether to use the line segment for the calculation of the position and orientation thereafter, based on at least one of a result of detection of the image feature, and information acquired in the calculation of the position and orientation.

Abstract: From a sequence of images captured by an image pickup unit, images necessary for measuring placement information regarding markers and/or a sensor are automatically determined and obtained. To this end, using position and orientation information regarding the image pickup unit at the time the image pickup unit has captured an obtained image and placement information regarding detected markers, whether to use the captured image corresponding to the position and orientation is determined. Using the captured image determined to be used, the marker placement information, placement information regarding a measurement target, or the position and orientation of the image pickup unit serving as an unknown parameter is obtained so as to minimize the error between the measured image coordinates and theoretical image coordinates of each marker, which are estimated on the basis of a rough value of the parameter.

Abstract: A technique for reducing the time required before a tracking process is performed again in calculating the position and orientation of an image capturing apparatus or an object. Images captured by the apparatus are acquired, the acquired images are stored in order per frame, straight lines detected in the captured images and straight lines in a three-dimensional space model are matched, the position and orientation of the apparatus are initialized by obtaining correspondences having the highest consistency, a captured image to be processed is selected from the captured images, the change in position and orientation of the apparatus is measured using the change in position and orientation of a target object in the selected image based on the initialized position and orientation of the apparatus, and if the measured change in position and orientation is not within a predetermined threshold, initialization is performed using the selected image.

Abstract: Indices allocated or set on an object are detected from sensed images of frames, which are time-serially sensed by an image sensing device. In association with each index detected from the sensed image of the frame of interest, a detection condition from frames before the frame of interest is acquired. According to the acquired detection condition of the index, the reliability of this index is calculated. The position and orientation of the object or the image sensing device are calculated using at least information associated with the image coordinates of the detected indices and the reliabilities of the indices.