Abstract: An information processing apparatus, which provides images for stereoscopic viewing by synthesizing images obtained by capturing an image of real space by a main image sensing device and sub image sensing device to a virtual image, measures the position and orientation of the main image sensing device, calculates the position and orientation of the sub image sensing device based on inter-image capturing device position and orientation held in a holding unit and the measured position and orientation of the main image sensing device. Then the information processing apparatus calculates an error using the measured position and orientation of the main image sensing device, the calculated position and orientation of the sub image sensing device, and held intrinsic parameters of the main image sensing device and sub image sensing device. The information processing apparatus calibrates the held information based on the calculated error.

Abstract: A position and orientation measurement apparatus for measuring the position and orientation of a target object includes a first search unit which searches a geometric model for a lost model region corresponding to a lost image region in a range image, a determination unit which determines whether or not a point on a geometric model corresponding to a pixel on the range image of the target object falls within the lost model region, a correction unit which corrects combinations of pixels on the range image and corresponding points which are determined to fall within the lost model region, and a calculation unit which calculates the position and orientation of the target object based on the corrected combinations of the pixels on the range image and points on the geometric model.

Abstract: A position and orientation measurement apparatus for measuring the position and orientation of a target object includes a first search unit which searches a geometric model for a lost model region corresponding to a lost image region in a range image, a determination unit which determines whether or not a point on a geometric model corresponding to a pixel on the range image of the target object falls within the lost model region, a correction unit which corrects combinations of pixels on the range image and corresponding points which are determined to fall within the lost model region, and a calculation unit which calculates the position and orientation of the target object based on the corrected combinations of the pixels on the range image and points on the geometric model.

Abstract: A position/orientation measurement apparatus comprises an obtaining unit to obtain a range image to the target object; a determination unit to determine a coarse position/orientation of the target object based on the range image; a calculation unit to calculate a variation degree of distance information on a region of the range image, which region corresponds to a predetermined region on the shape model; a sampling unit to sample, for each predetermined region on the shape model, sample-points from the predetermined region to reduce the number of sample-points as the variation degree is smaller; an association unit to associate the sample-points and three-dimensional measurement points obtained by converting two-dimensional measurement points on the range image into three-dimensional coordinates based on the coarse position/orientation; and a position/orientation determination unit to determine the position/orientation of the target object based on a sum total of distances between the sample-points and the th

Abstract: Upon generation of an image of a virtual space on which a virtual object is laid out using a ray tracing method, an approximate virtual object, which is configured by at least one virtual element to approximate the shape of a physical object, is laid out on the virtual space. Then, intersect determination between a ray generated based on the ray tracing method and an object on the virtual space is executed. As a result of the intersect determination, when the ray and the approximate virtual object have a predetermined intersect state, a pixel corresponding to the ray is generated based on a ray before the predetermined intersect state is reached.

Abstract: An apparatus comprises: extraction means for extracting an occluded region in which illumination irradiated onto the target object is occluded in an obtained two-dimensional image; projection means for projecting a line segment that constitutes a three-dimensional model onto the two-dimensional image based on approximate values of position/orientation of the target object; association means for associating a point that constitutes the projected line segment with a point that constitutes an edge in the two-dimensional image; determination means for determining whether the associated point that constitutes an edge in the two-dimensional image is present within the occluded region; and measurement means for measuring the position/orientation of the target object based on a distance on the two-dimensional image between the point that constitutes the projected line segment and the point that constitutes the edge, the points being associated as the pair, and a determination result.

Abstract: A position/orientation measurement apparatus holds a three-dimensional shape model of a object, acquires approximate value indicating a position and an orientation of the object, acquires a two-dimensional image of the object, projects a geometric feature of the three-dimensional shape model on the two-dimensional image based on the approximate value, calculates the direction of the geometric feature of the three-dimensional shape model projected on the two-dimensional image, detects an image feature based on the two-dimensional image, calculates the direction of the image feature, associates the image feature and the geometric feature by comparing the direction of the image feature calculated based on the two-dimensional image and the direction of the geometric feature calculated based on the three-dimensional shape model, and calculates the position and orientation of the object by correcting the approximate value based on the distance between the geometric feature and the image feature associated therewith

Abstract: A position and orientation measurement apparatus for measuring the position and orientation of a target object includes a first search unit which searches a geometric model for a lost model region corresponding to a lost image region in a range image, a determination unit which determines whether or not a point on a geometric model corresponding to a pixel on the range image of the target object falls within the lost model region, a correction unit which corrects combinations of pixels on the range image and corresponding points which are determined to fall within the lost model region, and a calculation unit which calculates the position and orientation of the target object based on the corrected combinations of the pixels on the range image and points on the geometric model.

Abstract: A three-dimensional measurement apparatus generates a plurality of view-point images obtained by observing a measurement object from a plurality of different view-points using a three-dimensional geometric model, detects edges of the measurement object from the plurality of view-point images as second edges, calculates respective reliabilities of first edges of the three-dimensional geometric model based on a result obtained when the second edges are associated with the first edges, weights each of the first edges based on the respective reliabilities, associates third edges detected from a captured image with the weighted first edges, and calculates a position and an orientation of the measurement object based on the association result.

Abstract: While a recording mode is being set, a manipulation log about a manipulation target virtual object is recorded in a memory (S301, S302). After the recording mode is canceled, a virtual element as a collision determination target with respect to the manipulation target virtual object is selected from a plurality of virtual elements existing in the same virtual space as the manipulation target virtual object based on the manipulation log (S303). Collision between the manipulation target virtual object and each of at least one selected virtual element is determined (S304). The collision determination result is output (S305).

Abstract: A position/orientation measurement apparatus comprises an obtaining unit to obtain a range image to the target object; a determination unit to determine a coarse position/orientation of the target object based on the range image; a calculation unit to calculate a variation degree of distance information on a region of the range image, which region corresponds to a predetermined region on the shape model; a sampling unit to sample, for each predetermined region on the shape model, sample-points from the predetermined region to reduce the number of sample-points as the variation degree is smaller; an association unit to associate the sample-points and three-dimensional measurement points obtained by converting two-dimensional measurement points on the range image into three-dimensional coordinates based on the coarse position/orientation; and a position/orientation determination unit to determine the position/orientation of the target object based on a sum total of distances between the sample-points and the th

Abstract: A shadow body generation unit generates a shadow model defined by a limited number of lines extending from a position of a light source to an outline of a hand. If the virtual object is partially or fully included in the shadow model and a position of the virtual object is further away from the position of the light source, the shadow body generation unit generates a shadow for a partially obscured area included in the shadow model.

Abstract: An information processing apparatus, which provides images for stereoscopic viewing by synthesizing images obtained by capturing an image of real space by a main image sensing device and sub image sensing device to a virtual image, measures the position and orientation of the main image sensing device, calculates the position and orientation of the sub image sensing device based on inter-image capturing device position and orientation held in a holding unit and the measured position and orientation of the main image sensing device. Then the information processing apparatus calculates an error using the measured position and orientation of the main image sensing device, the calculated position and orientation of the sub image sensing device, and held intrinsic parameters of the main image sensing device and sub image sensing device. The information processing apparatus calibrates the held information based on the calculated error.

Abstract: An image processing method includes an object level acquisition step of acquiring an object level set for each computer graphics object, a display step of displaying a slide bar with a movable cursor to allow a user to set a user level by manipulating the cursor, and a user level acquisition step of acquiring a user level set by the user, based on a position of the cursor of the slide bar. In addition, a rendering step renders a virtual space including each computer graphics object by rendering each computer graphics object to have its visibility attribute depending on its object level acquired in the object level acquisition step and the user level. The rendering step renders a computer graphics object with an object level less than the user level as a visible object and renders a computer graphics object with an object level equal to or larger than the user level as an invisible object, and the rendering step is repeatedly performed in response to the position of the cursor being changed by the user.

Abstract: When a message indicating that a hand that wears a glove (21) is laid out in accordance with a hand-shaped virtual object is detected, the position and orientation relationship between a magnetic receiver (203) and the hand-shaped virtual object is calculated using the position and orientation relationship between the magnetic receiver (203) and a magnetic receiver (202) and that of the hand-shaped virtual object and the magnetic receiver (202).

Abstract: There is provided an information processing method for setting the exclusive control right of a data item by a specific process in a system in which a plurality of clients connected via a network share data including a plurality of data items. In this method, when a desired data item is designated so as to set its exclusive control right, data items which belong to layers lower than the designated data and are related to the designated data item are retrieved on the basis of the hierarchical structure information of the plurality of data items. Then, the exclusive control right is set for the designated data item and retrieved data items.

Abstract: While a recording mode is being set, a manipulation log about a manipulation target virtual object is recorded in a memory (S301, S302). After the recording mode is canceled, a virtual element as a collision determination target with respect to the manipulation target virtual object is selected from a plurality of virtual elements existing in the same virtual space as the manipulation target virtual object based on the manipulation log (S303). Collision between the manipulation target virtual object and each of at least one selected virtual element is determined (S304). The collision determination result is output (S305).

Abstract: An information processing method maintains, in a system in which each of a plurality of client processes connected via an information transmission medium holds and uses shared data to be shared by the plurality of client processes, consistency of shared data held by the respective plurality of client processes. The method includes an input step of inputting a manipulation request, a determining step of determining a mode corresponding to the input manipulation request, from a plurality of modes including a first mode and a second mode, and a processing step of executing a process corresponding to the manipulation request in accordance with the mode determined in the determining step.

Abstract: When an image in a virtual space in which a virtual object is arranged is generated using a ray tracing method, and when it is determined that a ray which is generated in accordance with the ray tracing method successively intersected an approximate virtual object such as a hand which is a real object at lest twice, an image corresponding to a first intersection is generated in accordance with the ray emitted to the first intersection.

Abstract: Upon generation of an image of a virtual space on which a virtual object is laid out using a ray tracing method, an approximate virtual object, which is configured by at least one virtual element to approximate the shape of a physical object, is laid out on the virtual space. Then, intersect determination between a ray generated based on the ray tracing method and an object on the virtual space is executed. As a result of the intersect determination, when the ray and the approximate virtual object have a predetermined intersect state, a pixel corresponding to the ray is generated based on a ray before the predetermined intersect state is reached.