Abstract: An estimation apparatus is configured to obtain shape information containing information about multiple line segments that depict a shape of an object; detect multiple feature lines in an image of the object captured by an imaging apparatus; receive a first instruction for associating a feature line selected from the multiple feature lines with a line segment selected from the multiple line segments and a second instruction for associating two points selected in the image with two end points selected from end points of the multiple line segments; generate a first line segment connecting the two points and a second line segment connecting the two end points; and estimate a position and orientation of the imaging apparatus in three-dimensional space by using a combination of the selected feature line and the selected line segment and a combination of the first line segment and the second line segment.

Abstract: A non-transitory computer-readable storage medium storing a program that causes a computer to execute a process including displaying a plurality of first edge lines extracted from a captured image including a structure captured by a camera and a plurality of second edge lines included in a three dimensional model corresponding to structure data of the structure, detecting a first operation that designates target first edge lines included in the plurality of first edge lines in a first order, detecting a second operation that designates target second edge lines included in the plurality of second edge lines in a second order, associating each of the target second edge lines with one of the target first edge lines based on the first order and the second order, and superimposing the three dimensional model with the structure in the captured image based on a result of the associating.

Abstract: A display control method includes, displaying a first plurality of edge lines extracted from an image that includes a manufactured article, accepting designation for a second plurality of edge lines selected from the displayed first plurality of edge lines, identifying pairs each of which includes an edge line of the second plurality of edge lines and a line of a plurality of lines corresponding to the edge line, the plurality of lines being included in a three-dimensional model, determining a specific display posture of the three-dimensional model such that a positional relation between a first edge line and a first line included in a first pair satisfies a condition and a position of a second edge line and a position of a second line included in a second pair correspond to each other, and superimposing, in accordance with the specific display posture, the three-dimensional model on the image.

Abstract: An estimation apparatus is configured to obtain shape information containing information about multiple line segments that depict a shape of an object; detect multiple feature lines in an image of the object captured by an imaging apparatus; receive a first instruction for associating a feature line selected from the multiple feature lines with a line segment selected from the multiple line segments and a second instruction for associating two points selected in the image with two end points selected from end points of the multiple line segments; generate a first line segment connecting the two points and a second line segment connecting the two end points; and estimate a position and orientation of the imaging apparatus in three-dimensional space by using a combination of the selected feature line and the selected line segment and a combination of the first line segment and the second line segment.

Abstract: A computer displays a plurality of edge lines extracted from a shot image of a spatial structure that has been shot by an image shooting apparatus, and a plurality of ridge lines included in a model image represented by model information of the spatial structure, in a manner such that the edge lines and the ridge lines are selectable. Then, the computer accepts a selection instruction indicating an edge line and a ridge line of an overlay target. Finally, in accordance with the accepted selection instruction, the computer displays a superimposition image in which the model image has been superimposed onto the shot image in a manner such that the edge line and the ridge line of the overlay target overlap each other.

Abstract: A display control apparatus includes a memory, and a processor configured to obtain an image including an object, the image being captured by a camera, extract a group of edge lines from the image, determine a plurality of edge lines in accordance with a position of a reference object from among the group of edge lines when the reference object is detected in the image, execute an association process between each of the plurality of edge lines and each of a plurality of ridge lines included in a model corresponding to structure data of the object, the model being obtained from the memory, and superimpose the model on the image in a state in which positions of the plurality of ridge lines correspond to positions of the plurality of edge lines respectively.

Abstract: A non-transitory computer-readable storage medium storing a program that causes a computer to execute a process including displaying a plurality of first edge lines extracted from a captured image including a structure captured by a camera and a plurality of second edge lines included in a three dimensional model corresponding to structure data of the structure, detecting a first operation that designates target first edge lines included in the plurality of first edge lines in a first order, detecting a second operation that designates target second edge lines included in the plurality of second edge lines in a second order, associating each of the target second edge lines with one of the target first edge lines based on the first order and the second order, and superimposing the three dimensional model with the structure in the captured image based on a result of the associating.

Abstract: A computer displays a plurality of edge lines extracted from a shot image of a spatial structure that has been shot by an image shooting apparatus, and a plurality of ridge lines included in a model image represented by model information of the spatial structure, in a manner such that the edge lines and the ridge lines are selectable. Then, the computer accepts a selection instruction indicating an edge line and a ridge line of an overlay target. Finally, in accordance with the accepted selection instruction, the computer displays a superimposition image in which the model image has been superimposed onto the shot image in a manner such that the edge line and the ridge line of the overlay target overlap each other.

Abstract: A communication device includes: a reception unit that receives a beacon signal including an identification number of a slave unit from a master unit; a first assignment unit that performs an assignment of a first communication interval for receiving a signal from the master unit based on the number of identification numbers included in the beacon signal; and a second assignment unit that performs an assignment of a second communication interval for transmitting a signal to the master unit within a rest of time calculated by subtracting the first communication interval and a non-communication interval, which is not used for a communication with the master unit, from a signal period which is a period of the beacon signal.

Abstract: A communication device includes: a reception unit that receives a beacon signal including an identification number of a slave unit from a master unit; a first assignment unit that performs an assignment of a first communication interval for receiving a signal from the master unit based on the number of identification numbers included in the beacon signal; and a second assignment unit that performs an assignment of a second communication interval for transmitting a signal to the master unit within a rest of time calculated by subtracting the first communication interval and a non-communication interval, which is not used for a communication with the master unit, from a signal period which is a period of the beacon signal.