Abstract: A pose detecting system includes: a marker using a microlens array; a camera; and a computer receiving a marker image. The marker includes: a lens area constituted of the microlens array and a mark array having a plurality of marks arrayed with a pitch similar to that between a plurality of lenses constituting the microlens array so as to produce a moiré pattern; and four reference points. The computer performs: determining the pose of the marker based on the four reference points; analyzing the moiré pattern so as to calculate an angle formed by the marker and a straight line connecting the center of an integrated mark that emerges at the lens area as the moiré pattern and is similar in shape to each of the plurality of marks to a viewpoint at the marker; and correcting the pose of the marker by using the angle.

Abstract: A pose detecting system includes: a marker using a microlens array; a camera; and a computer receiving a marker image. The marker includes: a lens area constituted of the microlens array and a mark array having a plurality of marks arrayed with a pitch similar to that between a plurality of lenses constituting the microlens array so as to produce a moiré pattern; and four reference points. The computer performs: determining the pose of the marker based on the four reference points; analyzing the moiré pattern so as to calculate an angle formed by the marker and a straight line connecting the center of an integrated mark that emerges at the lens area as the moiré pattern and is similar in shape to each of the plurality of marks to a viewpoint at the marker; and correcting the pose of the marker by using the angle.

Abstract: An object movement tracking apparatus and its method tracks an object with an unknown initial position and which object is continually moving, the apparatus for recovering a tracking process even when the tracking has failed and includes an observing device such as a video camera for observing a scene at a video frame rate. Time-sequentially acquired image data from the observing device are stored in an image memory device and the data processed in parallel. During data processing, an object recognition module selects a frame memory based on predetermined information. An estimated value of position/posture of the object are calculated from the image data and transmitted. A movement tracking module receives transmitted data from the object recognition module, replacing a current frame with a next frame and waits until image data in the next frame are inputted.

Abstract: After stereo image is inputted (S1), the tracing point corresponding to the silhouette of a curved object observed by the stereo image is selected on the basis of the information on the present position of the object (S2), using a three-dimensional geometric model. And the corresponding points on the silhouette corresponding to respective tracing points are sampled from the stereo image (S3), and their three-dimensional coordinates are measured (S4). Then, from the group of the three-dimensional coordinates of tracing points and corresponding points, the position/posture of the object concerned and the measurement error are determined (S5), to discriminate the error (S6).

Abstract: The objective of the present invention is to provide an object movement tracking apparatus and its method capable of dealing with an object with an unknown initial position and a continually moving object and capable of recovering a tracking process even when the tracking is failed.

Abstract: A method of processing image information is disclosed, for recognizing the position and attitude of an object with a high speed treatment and improved recognition accuracy. The method comprised of the steps of entry of a stereoscopic image of an object, extraction of edges of the object, and dividing it into segments based on the local feature of the image, adding the apex information to the segments to produce the recognition data, verifying the recognition data with reference to an object model based on local geometric features to detect a corresponding candidate; finely adjusting each of corresponding candidates based on an entire geometric features; and detecting the position and attitude of the object on the basis of recognition including the initial verification and the fine adjustment.

Abstract: A method of processing image information is disclosed, for detecting the movement of an object with a simplifed system structure, and high speed treatment. The method is comprised of the steps of entry of a stereoscopic image of an object, extraction of edges of the object, and dividing it into segments based on the local feature of the image. On each segment, tracing points (sampling points) are selected, the inter-frame correlation of selected points is obtained, the three-dimensional coordinates of the points are measured, and thus the position and attitude of the object are detected, wherein the inter-frame correlation is performed by evaluating the similarity between frames based on correlation between the tangential direction of tracing points and the luminance value of the surface.