Abstract: By applying identification processing to each index included in a captured image, a set of an identifier, image coordinates, and an image number is acquired for each index, and the acquired set is registered in a data saving unit. The data saving unit manages the numbers of times of previous identification for respective identifiers. A display unit displays the number of times managed in association with an identifier in a set to be registered every time the set is registered. An index position and orientation calculation unit calculates the positions and orientations of indices corresponding to a set group using the set group registered in a memory.

Abstract: A position and orientation estimation apparatus inputs an image capturing an object, inputs a distance image including three-dimensional coordinate data representing the object, extracts an image feature from the captured image, determines whether the image feature represents a shape of the object based on three-dimensional coordinate data at a position on the distance image corresponding to the image feature, correlates the image feature representing the shape of the object with a part of a three-dimensional model representing the shape of the object, and estimates the position and orientation of the object based on a correlation result.

Abstract: An image processing apparatus comprising: an input unit configured to input a plurality of images obtained by capturing a target object from different viewpoints; a detection unit configured to detect a plurality of line segments from each of the plurality of input images; a setting unit configured to set, for each of the plurality of detected line segments, a reference line which intersects with the line segment; an array derivation unit configured to obtain a pattern array in which a plurality of pixel value change patterns on the set reference line are aligned; and a decision unit configured to decide association of the detected line segments between the plurality of images by comparing the pixel value change patterns, contained in the obtained pattern array, between the plurality of images.

Abstract: A three-dimensional measurement apparatus comprises: a model holding unit configured to hold a three-dimensional shape model of a measurement object; 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; an illumination unit configured to irradiate the measurement object with a predetermined illumination pattern; an image sensing unit configured to sense an image of the measurement object while the illumination unit irradiates the measurement object; a distance calculation unit configured to calculate distance information indicating a distance from the image sensing unit to the measurement object based on region corresponding to the distance measurement region within the sensed image; and a position and orientation calculation unit configured to calculate a position and orientation of the measurement object based on the distance information and the three-dimensional shape model.

Abstract: An information processing method for obtaining placement information of a first position and orientation sensor attached to an object with respect to the object includes an image input step of inputting an image of the object captured by an image capturing device, and a sensor measurement value input step of inputting a first measurement value of the first position and orientation sensor and a second measurement value of a second position and orientation sensor attached to the image capturing device. An index detecting step detects information about image coordinates of an index attached to the object from the image, and a placement information calculating step calculates the placement information by using the first and second measurement values of the first and second position and orientation sensors and the information about the image coordinates of the index.

Abstract: A position and orientation estimation apparatus detects correspondence between a real image obtained by an imaging apparatus by imaging a target object to be observed and a rendered image. The rendered image is generated by projecting a three dimensional model onto an image plane based on three dimensional model data expressing the shape and surface information of the target object, and position and orientation information of the imaging apparatus. The position and orientation estimation apparatus then calculates a relative position and orientation of the imaging apparatus and the target object to be observed based on the correspondence. Then, the surface information of the three dimensional model data is updated by associating image information of the target object to be observed in the real image with the surface information of the three dimensional model data, based on the calculated positions and orientations.

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: In order to improve the operationality of a walk-through system using panorama photography images, the system is provided with a view calculating unit for calculating view information in accordance with a user instruction from an operation unit, the view information including view position information and view direction information; a panorama image storing unit for storing a plurality of panorama images; a path storing unit for storing path information of the panorama images; an advancable path calculating unit for calculating advancable path information at a next dividing point in accordance with the view information and the path information; and an image generating unit for generating a cut-out image from the panorama image in accordance with the view information, generating a sign figure representative of the advancable path in accordance with the advancable path information, and synthesizing the cut-out image and the sign figure to generate a display image.

Abstract: When a calibration jig (50) which includes an image sensing device (100) is moved within the image sensing range of an image sensing device (200), the image coordinates of an index (110) on the image sensing device (100) in a plurality of images sensed by the image sensing device (200) are extracted. The image coordinates of environment allocation indices (300) in a plurality of images sensed by the image sensing device (100) are extracted. An information processing apparatus (1000) calculates camera parameters of the image sensing device (200) based on the extracted image coordinates of the index (110) and the environment allocation indices (300).

Abstract: A position and an orientation of an image capturing device or an object to which an inclination sensor is mounted are obtained without performing iterative calculation. A position and orientation measuring method includes the steps of: inputting a measured inclination value of an inclination sensor mounted to one of an object and an image capturing device; inputting a captured image from the image capturing device; detecting an index on the object from the captured image; and calculating a position and an orientation of one of the object and the image capturing device to which the inclination sensor is mounted on the basis of the measured inclination value, an image coordinate of the detected index, and already-known positional information on the detected index without performing iterative calculation.

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: An image information processing apparatus is provided to generate, from previously held image data, a display image according to a viewpoint designated by a user, and to communicate with a control apparatus which can communicate with plural image information processing apparatuses respectively generating display images and has a controller for controlling viewpoint information shared by the plural image information processing apparatuses on the basis of viewpoint information sent from the image information processing apparatus. This apparatus comprises a transmitter to calculate the viewpoint information based on a user's instruction and transmit it to the controller, a receiver to receive from the controller the viewpoint information for generating the display image, and an image generator to read the image data corresponding to the viewpoint information from the previously held image data for generating the display image, and generate and output the display image to a display.

Abstract: In a case where a position and/or orientation of a shooting viewpoint is calculated by using information about image coordinates of markers placed in a scene, the present invention enables a user to easily determine positions of the markers so that the position and orientation can be calculated more accurately. Information about markers placed in a physical space is obtained and area information about mixing accuracy between a physical space image and a virtual space image is obtained based on the information about the markers, so that a virtual space image is generated in accordance with the obtained area information.

Abstract: A marker placement information estimating method includes a constraint condition setting step for setting a constraint condition that can be defined with a geometric condition regarding placement information of markers, a capturing step for capturing photographed images including a marker image, a marker detecting step for detecting markers from the photographed images, and an estimating step for estimating the placement information of the markers using the positions of the detected markers on the images and the constraint condition. Thus, even if a constraint condition regarding the placement of markers exists, the placement information can be obtained with precision so as to satisfy the constraint condition.

Abstract: In an image reproducing method capable of displaying annotations in virtual space constituted by a group of real panoramic images, if an object for which an annotation is to be displayed falls within the field of view at the position of the observer, the object is adopted as the display position of the annotation. If the object is not within the field of view, then the direction of forward travel of the observer is adopted as the annotation display position. If the object is in a state of transition, then the annotation display position is decided by interpolation.

Abstract: An information processing device for obtaining placement information regarding an imaging device of markers to be calibrated that are provided upon the imaging device, includes: a first image obtaining unit adapted to obtain a first image photographed with the imaging device; a second image obtaining unit adapted to obtain a second image obtained by photographing the imaging device from a bird's-eye view position; a first detecting unit adapted to detect information relating to image coordinates of reference markers placed in a scene, from the first image; a second detecting unit adapted to detect information relating to image coordinates of markers to be calibrated from the second image; and a calibration information calculating unit adapted to obtain the calibration information using information relating to image coordinates of the reference markers detected by the first detecting unit and the second detecting unit.

Abstract: A unit (110) acquires an image, sensed by an image sensing device (100), of a physical object having an outer appearance that can be expressed by line segments. A unit (120) stores defining data used to classify line segments configuring a 3D virtual object that simulates the outer appearance of the physical object into a plurality of groups and to define respective line segments belonging to the groups. A unit (130) selects one group from the groups one by one without any repetition. The unit (130) projects line segments which belong to the selected group onto a physical space using the defining data used to define that line segments, and the image of the physical space. The unit (130) then updates a position and orientation of the image sensing unit based on the line segments projected onto the physical space and a feature in the image of the physical object.

Abstract: An objective viewpoint image of an object captured at an objective viewpoint position is obtained, a measurement value of a sensor is received, information about the image coordinates of calibrating indices is detected from an objective viewpoint image, and two kinds of arrangement information of the calibrating indices and the sensor both placed on and relative to the object are obtained on the basis of the measurement value and the information about the image coordinates of the calibrating indices. With this, the two kinds of arrangement information are easily and accurately obtained at the same time.

Abstract: A method is provided for estimating the placement information of a plurality of types of markers of which the amounts of the placement information differ respectively, detects a plurality of types of markers from multiple images, calculates the position where the detected marker is projected on an image surface based on the approximate values of the positions and orientations of an imaging device when multiple images are photographed, obtains the correction value of the placement information of a marker so as to reduce a sum of error between the position of the detected marker on the image surface and the projected position of the marker calculated, corrects the placement information of the marker, and also calculates the placement information of a plurality of types of markers by repeating these processes.

Abstract: Shakiness of a panoramic video can be reduced by an image processing method comprising: setting a common coordinate system which can be transformed from individual coordinate systems of a plurality of image sensing devices; estimating postures of at least one of the plurality of image sensing devices; calculating an estimated posture of the common coordinate system using at least one of the estimated posture of the plurality of image sensing devices; calculating a correction transform for reducing a shakiness of the common coordinate system using the estimated posture of the common coordinate system; calculating a correction transform for reducing a shakiness of each of the plurality of image sensing devices using the correction transform; applying the corresponding correction transform to a sensed image which is sensed by each of the plurality of image sensing devices; and composing a panoramic image by joining a plurality of transformed sensed images.