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.

Abstract: Position detection methods and systems are disclosed herein. The position detection method of detecting a position in an operation surface pointed by a pointing element includes obtaining a first taken image with the first infrared camera, obtaining a second taken image with the second infrared camera, removing a noise component from the first and second images converting the first and second taken into converted images without the noise component, forming a difference image between the first converted taken image and the second converted taken image, extracting a candidate area in which a disparity amount between the first converted taken image and the second converted taken image is within a predetermined range, detecting a tip position of the pointing element from the candidate area, and determining a pointing position of the pointing element and whether or not the pointing element had contact with the operation surface based on the detecting.

Abstract: The invention provides a method for preparing lithium-containing particles suitable for use in an electrode of a battery, the method including forming a mixture comprising titanium dioxide precursor particles and an aqueous solution of a lithium compound; and heating the mixture at elevated temperature in a sealed pressure vessel in order to form lithium-inserted titanium dioxide particles, wherein at least one particle size characteristic selected from average primary particle size, particle size distribution, average intra-particle pore size, average inter-particle pore size, pore size distribution, and particle shape of the titanium dioxide particles is substantially unchanged by said heating step.

Abstract: The position detection method of detecting a position in an operation surface pointed by a pointing element includes obtaining a first taken image with the first camera configured to take an image with the infrared light, obtaining a second taken image with the second camera configured to take an image with the infrared light, removing a noise component from the first and second taken image, converting the first and second taken image from which the noise component removed into a first and second converted taken image, forming a difference image between the first converted taken image and the second converted taken image, extracting an area in which a disparity amount between the first converted taken image and the second converted taken image is within a predetermined range out of the difference image as a candidate area, detecting a tip position of the pointing element from the candidate area, and determining a pointing position of the pointing element and whether or not the pointing element had contact wit

Abstract: An object attitude detection device includes a pick-up image acquisition unit, a template image acquisition unit, and an attitude decision unit. The pick-up image acquisition unit acquires a picked-up image of an object. The template image acquisition unit acquires a template image for each attitude of the object. The attitude decision unit decides an attitude of the object based on the template image having pixels. In the pixels, a distance between pixels forming a contour in the picked-up image and pixels forming a contour of the template image is shorter than a first threshold. Further, a degree of similarity between a gradient of the pixels forming the contour in the picked-up image and a gradient of the pixels forming the contour of the template image is higher than a second threshold.

Abstract: A head-mounted display device includes a camera, an inertial sensor in a first spatial relationship with the camera, and a processor that: acquires an image data sequence from the camera; and acquires a sensor data sequence from the inertial sensor; derives a first pose of an object based at least on one of image frames in the image data sequence and template data created based on a 3D model corresponding to the object; derives a second spatial relationship between an object coordinate system defined on the object or the 3D model and a global coordinate system based at least on the first pose or a pose tracked from the first pose, the sensor data sequence and the first spatial relationship; and derives a second pose of the object based at least on the image data sequence, the sensor data sequence and the second spatial relationship using a non-linear estimation algorithm.

Abstract: A head-mounted display device includes a deriving section that derives an object distance of a real object included in an outside scene to be imaged and a relative pose of the real object with respect to an imaging section, a parameter selection section that selects one parameter group among a plurality of parameter groups for displaying an AR image associated with the real object on an image display section in accordance with the object distance; and a display image setting section that sets a display image in which a pose of the AR image and a pose of the real object are associated with each other, on the basis of the object distance, the relative pose of the real object, and the selected one parameter group, and displays the display image on the image display section.

Abstract: A head-mounted display device includes an image display section, an imaging section, an image setting section configured to set an image, an operation input section, an object specification section configured to derive a spatial relationship of a specific object included in an imaged outside scene with respect to the imaging section, and a parameter setting section. The image setting section causes the image display section to display a setting image based at least on the derived spatial relationship and a predetermined parameter group so as to allow a user to visually perceive the setting image, and the parameter setting section adjusts at least one parameter in the parameter group so as to allow the user to visually perceive a condition that at least a position and pose of the setting image and those of the specific object are substantially aligned with each other.

Abstract: An information processing device which processes information regarding a 3D model corresponding to a target object, includes a template creator that creates a template in which feature information and 3D locations are associated with each other, the feature information representing a plurality of 2D locations included in a contour obtained through a projection of the prepared 3D model onto a virtual plane based on a viewpoint, and the 3D locations corresponding to the 2D locations and being represented in a 3D coordinate system, the template being correlated with the viewpoint.

Abstract: A head-mounted display device includes an image display section, an imaging section, an image setting section, an object specification section configured to specify a specific object from within an outside scene captured by the imaging section, and a parameter setting section. The image setting section causes the image display section to display a marker image. After the parameter setting section determines that a user's head is substantially in a static condition, the image setting section provides information on time left for the imaging section to capture the outside scene. The parameter setting section obtains an image captured by the imaging section when the time expires.

Abstract: A marker whose at least one of a position and pose with respect to a capturing unit is estimated includes: quadrilateral specifying points that specify a quadrilateral shape; a first circle group that is a group of a plurality of circles whose centers are present in a line of a first diagonal which is one of two diagonals of the specified quadrilateral shape, and which are included in the quadrilateral shape; a second circle group that is a group of a plurality of circles whose centers are present in a line of a second diagonal which is the other diagonal of the two diagonals than the first diagonal, and which are included in the quadrilateral shape; and a direction-identification point that specifies a direction of the quadrilateral shape.

Abstract: A method includes acquiring first and second images that are captured by imaging a first real marker with a camera when the camera is respectively at a first and second positions with respect to the first real marker, deriving a motion of an inertial sensor based on output of the inertial sensor when the camera moves from the first position to the second position, displaying a marker image corresponding to a second real marker on a display, acquiring a third image that is obtained by capturing the second real marker with the camera when a user perceives the marker image and the second real marker being aligned with each other, and deriving a first spatial relationship between the camera and the inertial sensor and a second spatial relationship between the camera and the display based at least on the first and second images, the motion, and the third image.

Abstract: Titanium coordination complexes, particularly titanium catecholate complexes, can be attractive active materials for use in flow batteries. However, such coordination complexes can be difficult to prepare from inexpensive starting materials, particularly in aqueous solutions. Titanium oxychloride and titanium tetrachloride represent relatively inexpensive titanium sources that can be used for preparing such coordination complexes. Methods for preparing titanium catecholate complexes can include combining one or more catecholate ligands and titanium oxychloride in an aqueous solution, and reacting the one or more catecholate ligands with the titanium oxychloride in the aqueous solution to form the titanium catecholate complex. Titanium tetrachloride can be used as a precursor for forming the titanium oxychloride in situ. In some instances, the titanium catecholate complex can be isolated in a solid form, which can be substantially free of alkali metal ions.

Abstract: A marker whose at least one of a position and pose with respect to a capturing unit is estimated includes: quadrilateral specifying points that specify a quadrilateral shape; a first circle group that is a group of a plurality of circles whose centers are present in a line of a first diagonal which is one of two diagonals of the specified quadrilateral shape, and which are included in the quadrilateral shape; a second circle group that is a group of a plurality of circles whose centers are present in a line of a second diagonal which is the other diagonal of the two diagonals than the first diagonal, and which are included in the quadrilateral shape; and a direction-identification point that specifies a direction of the quadrilateral shape.

Abstract: A head-mounted display device includes an image display having an optical element to transmit light from an outside scene, a display element to display an image, a camera, a memory configured to store data of a marker image, and one or more processors. The one or more processors display an image on the image display and derive at least one of a camera parameter of the camera and a spatial relationship, based at least on an image that is captured by the camera in a condition that allows a user to visually perceive that the marker image displayed by the image display and a real marker corresponding to the marker image align at least partially with each other. The real marker includes a first set of feature elements within a rectangle, and the marker image includes a second set of feature elements.

Abstract: A marker whose at least one of a position and pose with respect to a capturing unit is estimated includes: quadrilateral specifying points that specify a quadrilateral shape; a first circle group that is a group of a plurality of circles whose centers are present in a line of a first diagonal which is one of two diagonals of the specified quadrilateral shape, and which are included in the quadrilateral shape; a second circle group that is a group of a plurality of circles whose centers are present in a line of a second diagonal which is the other diagonal of the two diagonals than the first diagonal, and which are included in the quadrilateral shape; and a direction-identification point that specifies a direction of the quadrilateral shape.

Abstract: A head-mounted display device includes an image display section configured to display an image, an imaging section, a memory section configured to store data of a marker image, an image setting section configured to cause the image display section to display an image based at least on the data, and a parameter setting section. The parameter setting section derives at least one of camera parameters of the imaging section and a spatial relationship, the spatial relationship being between the imaging section and the image display section, based at least on an image that is captured by the imaging section in the case where the imaging section acquires a captured image of a real marker.

Abstract: A head-mounted display device includes an image display having an optical element to transmit light from an outside scene, a display element to display an image, a camera, a memory configured to store data of a marker image, and one or more processors. The one or more processors display an image on the image display and derive at least one of a camera parameter of the camera and a spatial relationship, based at least on an image that is captured by the camera in a condition that allows a user to visually perceive that the marker image displayed by the image display and a real marker corresponding to the marker image align at least partially with each other. The real marker includes a first set of feature elements within a rectangle, and the marker image includes a second set of feature elements.

Abstract: A head-mounted display device includes a camera, an inertial sensor in a first spatial relationship with the camera, and a processor that: acquires an image data sequence from the camera; and acquires a sensor data sequence from the inertial sensor; derives a first pose of an object based at least on one of image frames in the image data sequence and template data created based on a 3D model corresponding to the object; derives a second spatial relationship between an object coordinate system defined on the object or the 3D model and a global coordinate system based at least on the first pose or a pose tracked from the first pose, the sensor data sequence and the first spatial relationship; and derives a second pose of the object based at least on the image data sequence, the sensor data sequence and the second spatial relationship using a non-linear estimation algorithm.

Abstract: An object attitude detection device includes: a picked-up image acquisition unit which acquires a picked-up image of an object; a template image acquisition unit which acquires a template image for each attitude of the object; and an attitude decision unit which decides an attitude of the object, based on the template image having pixels such that a distance between pixels forming a contour in the picked-up image and pixels forming a contour of the template image is shorter than a first threshold and that a degree of similarity between a gradient of the pixels forming the contour in the picked-up image and a gradient of the pixels forming the contour of the template image is higher than a second threshold.