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 method includes steps of: (a) causing a display device to display an image of a real object based on captured image data of a real object; (b) causing the display device to display a 2D model obtained from a projection of a 3D model corresponding to the real object based at least on a view; and (c) storing appearance data of the real object and data of the 2D model into a memory device while associating the appearance data and the data of the 2D model with each other after the real object and the 2D model are displayed so as to be aligned with or substantially aligned with each other by the display device.

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.

Abstract: A method includes : obtaining a first 3D model point cloud associated with surface feature elements of a 3D model corresponding to a real object; obtaining a 3D surface point cloud from current depth image data of the real object; obtaining a second 3D model point cloud associated with 2D model points in a model contour; obtaining a 3D image contour point cloud at respective intersections of first imaginary lines and second imaginary lines; and deriving a second pose based at least on the first 3D model point cloud, the 3D surface point cloud, the second 3D model point cloud, the 3D image contour point cloud and the first pose.

Abstract: A method includes steps of: (a) causing a display device to display an image of a real object based on captured image data of a real object; (b) causing the display device to display a 2D model obtained from a projection of a 3D model corresponding to the real object based at least on a view; and (c) storing appearance data of the real object and data of the 2D model into a memory device while associating the appearance data and the data of the 2D model with each other after the real object and the 2D model are displayed so as to be aligned with or substantially aligned with each other by the display device.