Abstract: An image processing apparatus includes a first processing task configured to acquire surface normal information of an object, a second processing task configured to acquire a plurality of first images acquired by capturing the object while changing a polarization angle of light from the object, a third processing task configured to acquire polarization information of the object, and a fourth processing task configured to generate a second image in which an illumination state of the object is different from that of each first image. The third processing task acquires light intensity information that changes according to the polarization angle, using the first images. The fourth processing task extracts a partial area of the first images using the surface normal information, and generates the second image using the partial area and the light intensity information.

Abstract: According to an example, a method for determining an ergonomic layout for a plurality of secondary devices comprises detecting the plurality of secondary devices, determining characterizing data for each of the detected secondary devices, the characterizing data comprising a type of secondary device and a location of a secondary device with respect to a primary device, determining a workspace layout based on the determined location, determining an ergonomic layout in which the primary device and the plurality of secondary devices are distributed in accordance with the type of secondary device, comparing the ergonomic layout to the workspace layout, and determining a set of changes for the plurality of secondary devices based on the comparison.

Abstract: A method includes, receiving: (i) a selected three-dimensional (3D) section that has been ablated in a patient organ in accordance with a specified contour, and (ii) a dataset, which is indicative of a set of lesions formed during ablation of the selected 3D section. The selected 3D section is transformed into a two-dimensional (2D) map, and checking, on the 2D map, whether the set of lesions covers the specified contour.

Abstract: A system for capturing a 3D image of a subject includes a detection device which is structured to capture images of the subject and surrounding environment, a projection device which is structured to provide a source of structured light, and a processing unit in communication with the detection device and the projection device. The processing unit is programmed to: analyze an image of the subject captured by the detection device; modify one or more of: the output of the projection device or the intensity of a source of environmental lighting illuminating the subject based on the analysis of the image; and capture a 3D image of the subject with the detection device and the projection device using the modified one or more of the output of the projection device or the intensity of the source of environmental lighting illuminating the subject.

Abstract: An apparatus including a capture device, an illumination device and a processor. The capture device may be configured to generate pixel data corresponding to an exterior view from a vehicle. The illumination device may be configured to generate light for the exterior view. The processor may be configured to generate video frames from the pixel data, perform computer vision operations on the video frames to detect objects in the video frames and generate a control signal. The objects detected may provide data for a vehicle maneuver. The control signal may adjust characteristics of the light generated by the illumination device. The characteristics of the light may be adjusted in response to the objects detected by the processor. The light from the illumination device may facilitate detection of the objects by the processor.

Abstract: The technology described in this document can be used to implement beam steering in optical systems and photonic devices, to provide a nonmechanical beam steering system for projecting optical energy and controlling the direction of the optical energy using a collection of devices and components that are fixed in position to selectively direct light from an array of different optical emitters at different locations.

Abstract: A quantitative evaluation method for integrity and damage evolution of a cement sheath in an oil-gas well is provided based on a fractal theory, an image processing technology, structural features and failure mechanisms of a casing-cement sheath-formation combination. The method uses correlations among fractal dimensions of casing-cement sheath interface morphology, cement sheath microscopic pore morphology, particle morphology of an initial blank group, and macroscopic mechanical properties including a radial cementing strength of the cement sheath interface, a tensile strength, and a compressive strength to quantitatively evaluate the integrity of the cement sheath of the blank group.

Abstract: Sub-diffraction limited fluorescent images using a fiber-based stimulated emission depletion (STED) microscope are reported. Both excitation and depletion beams are transported through polarization-maintaining fiber and a lateral resolution of 100 nm has been achieved.

Abstract: Systems and methods for training and utilizing predictive models that ignore missing features in accordance with embodiments of the invention are illustrated. One embodiment includes a method for generating representations of inputs with missing values. The method includes steps for, at a single layer in a multi-layer model, receiving an input includes a set of one or more values for several features and identifying a missingness pattern of the input, wherein the missingness pattern indicates whether the set of values is missing a value for each of the several features. The method further includes determining a set of one or more transformation weights based on the missingness pattern and transforming the input based on the determined transformation weights.

Abstract: According to one embodiment, a method, computer system, and computer program product for wearable device activity analysis is provided. A computer receives a video of an activity. The computer identifies the activity based on analyzing the video. The computer identifies body movements from the video. The computer correlates the activity and the body movements to a wearable device. The computer identifies additional inputs for the activity and updates the wearable device based on the identified additional inputs.

Abstract: Methods, systems and computer program products (“software”) enable a virtual three-dimensional visual experience (referred to herein as “V3D”) in videoconferencing and other applications, and capturing, processing and displaying of images and image streams.

Abstract: Techniques of designing a sensing system for pseudo 3D mapping in robotic applications are described. According to one aspect of the present invention, an image system is designed to include at least two linear sensors, where these two linear sensors are positioned or disposed orthogonally. In one embodiment, the two linear sensors are a horizontal sensor and a vertical sensor. The horizontal sensor is used for the lidar application while the vertical sensor is provided to take videos, namely scanning the environment wherever the horizontal sensor misses. As a result, the videos can be analyzed to detect anything below or above a blind height in conjunction with the detected distance by the lidar.

Abstract: Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Sensor data generated by the time-of-flight sensor can include returns associated with highly reflective objects that cause glare. In some examples, a depth of a sensed surface is determined from the sensor data and additional pixels at the same depth are identified. The subset of pixels at the depth are filtered by comparing a measured intensity value to a threshold intensity value for the depth. Other threshold intensity values can be applied to subsets of pixels at different depths.

Abstract: The embodiments of the disclosure provide a method for interacting with a virtual world, a host, and a computer readable storage medium. The method includes: determining a hand gesture and accordingly determining an indicator in the virtual world; in response to determining that the hand gesture is a pinch gesture, performing a specific function corresponding to a position indicated by the indicator in the virtual world or a specific object indicated by the indicator in the virtual world.

Abstract: A multipulse LIDAR system, including: a transmitting device for generating a transmission laser beam from a temporal sequence of single laser pulses; a receiving device with a detection surface, including a subdetector system made up of multiple subdetectors, for receiving the transmission laser beam that is reflected/scattered on objects in an observation area, the receiving device imaging a sampling point on the detection surface in the form of a pixel; a scanning device generating a scanning movement for successive sampling of the observation area along multiple sampling points situated in succession, the scanning movement to image a pixel on the detection surface, in each case shifted along the subdetector system; and a control device for determining distance information of the sampling points based on propagation times of the particular single laser pulses, the control device grouping subdetectors to form a macropixel individually associated with the particular pixel, for shared evaluation.

Abstract: A controller (11) for a vehicle, the vehicle comprising an imaging device for generating image data and the imaging device further comprising an imaging accelerometer (24) for generating imaging accelerometer data for determining the orientation of the imaging device relative to the vehicle, the controller (11) comprising: an input for receiving a signal indicative of the imaging accelerometer data and the generated image data; a processor arranged to identify alignment artefacts in the received image data in dependence on the received imaging device imaging accelerometer data; and an output for outputting an error signal in dependence on the identified alignment artefacts.

Abstract: Disclosed is a touch control method for a display. The method includes: after a reflection signal is received by means of a receiving component of a laser sensor, generating an image according to a laser signal and the reflection signal; acquiring gesture information of a user according to the image; and executing a control operation corresponding to the gesture information. Further disclosed are a terminal device and a computer-readable storage medium.

Abstract: Embodiments include providing a computer vision video stream and a human vision video stream using a single camera. The camera can comprise a single, high-resolution senor and a wide-angle lens providing high resolution video having a wide aspect ratio field of view. The streams can be generated, wherein the computer vision video stream maintains the wide aspect ratio field of view and the human vision video stream comprises high resolution video. The computer vision video stream can be provided to a computer vision system, wherein the computer vision system uses the computer vision video stream as input for an automated process, and the human vision video stream can be provided to a system that displays the human vision video stream to a user.

Abstract: A method for incorporating a real object at varying depths within a rendered three-dimensional architectural design space can include capturing data from a real environment, wherein the real environment comprises at least one real object within a physical architectural space. The method can also comprise extracting the at least one real object from the captured data from the real environment. Further, the method can include providing a rendered three-dimensional architectural design space comprising at least one virtual architectural component. The method can also include projecting the captured data from the real environment on a first plane within the rendered three-dimensional architectural design space and projecting the extracted at least one real object on a at least one additional plane within the rendered three-dimensional architectural design space, such that the rendered at least one real object is properly occluded within the rendered three-dimensional architectural design space.

Abstract: A method of measuring a distance between a vehicle and one or more objects, includes generating a modulation signal; generating a modulated light emitting diode (LED) transmission signal, via a vehicle LED driver assembly; transmitting a plurality of light beams based at least in part on the generated modulated LED transmission signal; capturing a reflection of the plurality of light beams off the one or more objects, utilizing one or more lens assemblies and a camera, the camera including an array of pixel sensors and being positioned on the vehicle; communicating a series of measurements representing the captured plurality of light beam reflections; calculating, utilizing the time-of-flight sensor module, time of flight measurements between the vehicle LED light assembly and the one or more objects and calculating distances, utilizing a depth processor module, between the vehicle LED light assembly and the one or more objects based on the time-of-flight measurements.

Abstract: An optical sensing system and a method for eliminating misjudgment of a reflective light are provided. The optical sensing system includes a first light source, a second light source, a light sensor, and a processor. The processor is configured to: control the first light source to scan a horizontal detection area; control the light sensor to capture a first frame by receiving first reflective lights from the horizontal detection area; obtain a first reflection pattern, and analyze the first reflection pattern to determine whether an object is within the first portion; if so, control the second light source to scan a first vertical detection area; control the light sensor to capture a second frame from the first vertical detection area; process the second frame to obtain a second reflection pattern, and analyze the second reflection pattern to determine whether the object is detected by a misjudgment.

Abstract: A calibration device 100 for use in a calibration process of an electronic display screen 200 for touchless gesture control, the calibration device 100 comprising: a main body 102 defining a main axis 101 of the calibration device 100, wherein the main axis 101 extends from a proximal end 102a to a distal end 102b of the main body 102; a first foot 109a at the distal end 102b, the first foot 109a having a footing surface 110 being placeable on the electronic display screen 200 such that the footing surface 110 is in contact with and parallel to the electronic display screen 200, wherein the footing surface 110 is oriented at a predetermined angle, in particular 90°, with respect to the main axis 101 of the calibration device 100; a calibration pattern 103 comprising a machine-readable code being detectable by one or more optical sensors 300, in particular one or more depth cameras, wherein the one or more optical sensors 300 are arranged at or near the electronic display screen 200 and are configured to ob

Abstract: A method for controlling optional constraints to processing of multi-dimensional scene data via a user interface [UI] in an image management device is disclosed. The first step in this process is receiving a first data set of a scene having location information about a first location in an image wherein the first data set has a first performance metric. Next is activating a Constraint Manager having a plurality of constraint processes. The next step is selecting a first Constraint process from the plurality of constraint processes. Then receiving a new data set for the first constraint process to apply to the first data set, before finally activating the first Constraint process to incorporate the new data set to estimate a new location data set for the first location, wherein the new location data set has an improved performance metric as compared to the first performance metric.

Abstract: A surveying instrument including a light projecting optical system which projects the distance measuring light, a light receiving optical system which receives the reflected distance measuring light from an object, a frame unit 5 which horizontally rotates around a horizontal rotation shaft, a scanning mirror which is provided in the frame unit, vertically rotates, a horizontal angle detector which detects a horizontal angle of the frame unit, a vertical angle detector which detects a vertical angle of the scanning mirror and an arithmetic control module which calculates the three-dimensional coordinates of the object, in which the light receiving optical system has a reflecting mirror having a reflecting surface which is an off-axis paraboloidal surface or an off-axis free-form surface, and the reflected distance measuring light is configured to be led to a light receiving module by the reflecting mirror while being condensed.

Abstract: A system is provided which obtains images of a physical object captured by an AR recording device in a 3D scene. The system measures a level of diversity of the obtained images, for a respective image, based on at least: a distance and angle; a lighting condition; and a percentage of occlusion. The system generates, based on the level of diversity, a first visualization of additional images to be captured by projecting, on a display of the recording device, first instructions for capturing the additional images using the AR recording device. The system trains a model based on the collected data. The system performs an error analysis on the collected data to estimate an error rate for each image of the collected data. The system generates, based on the error analysis, a second visualization of further images to be captured. The model is further trained based on the collected data.

Abstract: A method for determining a reflectivity value indicating a reflectivity of an object is provided. The method includes performing a Time-of-Flight (ToF) measurement using a ToF sensor. A correlation function of the ToF measurement increases over distance within a measurement range of the ToF sensor such that an output value of the ToF sensor for the ToF measurement is independent of the distance between the ToF sensor and the object. The method further includes determining the reflectivity value based on the output value of the ToF sensor for the ToF measurement.

Abstract: An image processing device is provided with: a movement detection unit—for detecting, from time-series images, a first feature relating to the first movement of a head portion of a person and a second feature relating to the second movement of a body portion, which is a part of the person other than the head portion; and an index value calculation unit for calculating an index value which indicates the degree of consistency between the first feature relating to the first movement of the head portion of the person and the second feature relating to the second movement of the body portion of the person.

Abstract: Disclosed is a touch control method for a display. The method includes: after a reflection signal is received by means of a receiving component of a laser sensor, generating an image according to a laser signal and the reflection signal; acquiring gesture information of a user according to the image; and executing a control operation corresponding to the gesture information. Further disclosed are a terminal device and a computer-readable storage medium.

Abstract: Provided is a human posture detection method including: acquiring a plurality of frames of image data; acquiring a plurality of human posture reference maps output by a human posture detection model responsive to inputting a current frame of image data to the human posture detection model with reference to human posture confidence maps of a previous frame of image data, wherein different human posture reference maps correspond different human-posture key points; identifying a human-posture key point in each of the human posture reference maps; and generating human posture confidence maps of the current frame of image data based on credibility of the human-posture key points, wherein the human posture confidence maps of the current frame of image data is configured to participate in generation of human posture confidence maps of a next frame of image data.

Abstract: The invention provides a method for intelligently measuring vehicle trajectory based on a binocular stereo vision system, including the following steps: inputting a dataset into an SSD (Single Shot Multibox Detector) neural network to train a license plate recognition model; calibrating the binocular stereo vision system, and recording videos of moving target vehicles; detecting the license plates in the video frames with the license plate recognition model; performing stereo matching on the license plates in the subsequent frames of the same camera and in the corresponding left-view and right-view video frames by a feature-based matching algorithm; reserving correct matching point pairs after filtering with a homography matrix; screening the reserved matching point pairs, and reserving the one closest to the license plate center as the position of the target vehicle in the current frame; performing stereo measurement on the screened and reserved matching point pairs to get the spatial position coordinates of

Abstract: A method of and a system for synchronizing data for operating a Self-Driving Vehicle (SDV) are provided. The method comprises: causing, by an electronic device, a camera system and a LIDAR system to provide the image data and the map data to the electronic device in a common time referential, determining, by the electronic device, a first timestamp for the map data, determining, by the electronic device, a second timestamp for the image data, determining, by the electronic device, a temporal offset between the first timestamp and the second timestamp, using, by the electronic device, the temporal offset to trigger a delay between subsequent snapshots generated by the camera system.

Abstract: A method of recording images within a furnace using a thermal imaging camera comprising a bore scope connected to a digital camera unit is described, comprising the steps of: (a) inserting the borescope into the interior of the furnace, (b) collecting one of more images of the interior of the furnace using the thermal imaging camera with the borescope at a first position, and (c) moving the borescope from the first position to a second position and collecting one or more images of the interior of the furnace as the borescope is moved from the first position to the second position, wherein the borescope movement is guided by means of a guide device comprising a movable borescope mounting, mounted externally on the furnace.

Abstract: System for scanning a subject's teeth. Described herein are intraoral scanning apparatuses for generating a three-dimensional model of a subject's intraoral region (e.g., teeth). These apparatuses may be used for identifying and evaluating lesions, caries and cracks in the teeth.

Abstract: An apparatus and method are described for performing an early depth test on graphics data. For example, one embodiment of a graphics processing apparatus comprises: early depth test circuitry to perform an early depth test on blocks of pixels to determine whether all pixels in the block of pixels can be resolved by the early depth test; a plurality of execution circuits to execute pixel shading operations on the blocks of pixels; and a scheduler circuit to schedule the blocks of pixels for the pixel shading operations, the scheduler circuit to prioritize the blocks of pixels in accordance with the determination as to whether all pixels in the block of pixels can be resolved by the early depth test.

Abstract: An eyeglasses-type wearable device of an embodiment can handle various data inputs. The device includes right and left eye frames corresponding to positions of right and left eyes and nose pads corresponding to a position of a nose. Eye motion detection electrodes (sightline detection sensor electrodes) are provided with the nose pads to detect the eye motion of a user. Transmitter/receiver electrodes (capacitance sensor electrodes) of a gesture detector are provided with a part of the right and left eye frames to detect a gesture of the user. Various data inputs are achieved by a combination of input A corresponding to a gesture of the user detected by the gesture detector and input B corresponding to the eye motion of the user detected by the eye motion detector.

Abstract: An acoustic model determination approach for a real-time locating system is disclosed. The system includes one or more transmitting devices and one or more mobile devices. The acoustic model may be determined by deriving an acoustic representation of sub-structures within the building, and then forming the acoustic model based on the acoustic representation and the location and orientation of the static acoustic transmitting device. In another embodiment, an acoustic signal is transmitted from a static acoustic transmitting device, with the reflected signals received by the same static acoustic transmitting device in a receiving mode. Based on these received acoustic signals, the acoustic model is formed based on the reflected signals and the location and orientation of the static acoustic transmitting device.

Abstract: A head-up display includes a display panel, a parallax barrier, an optical system including a reflector and an optical member, and a controller. The optical system projects a virtual image of an image displayed by the display panel onto a virtual image plane. The controller controls the display panel such that first second images which have a parallax with each other are projected as a three-dimensional image in a field of view of the user, and a convergence angle at which the user views a point on the three-dimensional image is equal to or less than a maximum convergence angle which is greater by 0.43 degrees than a convergence angle for viewing a point on the virtual image plane and is equal to or greater than a minimum convergence angle which is less by 0.43 degrees than the convergence angle for viewing a point on the virtual image plane.

Abstract: Disclosed in the present invention is a camera module comprising: an optical output unit for outputting a first optical signal and a second optical signal to an object; a sensor for receiving a first reflected optical signal in which the first optical signal is reflected by the object; and a control unit for obtaining first distance information to the object by using the first optical signal and the first reflected optical signal, wherein an output of the first optical signal is smaller than an output of the second optical signal, and the control unit determines whether to output the second optical signal by using the first distance information.

Abstract: An apparatus includes an interface circuit and a control circuit. The interface circuit may be configured to receive pixel data corresponding to a field of view of a camera. The control circuit may be configured to process the pixel data arranged as video frames and control an exposure time for capturing the pixel data and a turn on time of a structured light pattern to obtain a sequence of images comprising at least one image including the structured light pattern and at least one image where the structured light pattern is absent. The control circuit may be further configured to perform a depth analysis to generate depth information using the at least one image including the structured light pattern. The control circuit may store and execute an artificial neural network trained to (i) discern whether a face is at least one of a real face and a fake face, and (ii) make a liveness determination utilizing the depth information.

Abstract: In one embodiment, a set of LIDAR images are received representing the LIDAR point cloud data captured by a LIDAR device of an autonomous driving vehicle (ADV) at different point in times. Each of the LIDAR imagers is transformed or translated from a local coordinate system (e.g., LIDAR coordinate space) to a global coordinate system (e.g., GPS coordinate space) using a coordinate converter configured with a set of parameters. A first LIDAR reflection map is generated based on the transformed LIDAR images, for example, by merging the transformed LIDAR images together. The coordinate converter is optimized by adjusting one or more parameters of the coordinate converter based on the difference between the first LIDAR reflection map and a second LIDAR reflection map that serves as a reference LIDAR reflection map. The optimized coordinate converter can then be utilized to process LIDAR data for autonomous driving at real-time.

Abstract: A method, an apparatus, and a device for target detection in consecutive images, and a computer-readable storage medium. A second frame is divided into multiple sub-images, before a target in the second frame in a video sequence is detected through a target-detecting network model. A first frame is searched, according to a preset rule for motion estimation, for a corresponding image block matched with each sub-image. Pixels of a sub-image, of which the matched image block is found in the first frame, are replaced with preset background pixels. Hence, a target repeating in both frames is replaced. Finally, the second frame subject to the replacement is inputted in to the target-detecting network model, to obtain a bounding box of a target object of the second frame and a category of such target object. An algorithm for target detection in consecutive images is optimized.

Abstract: Systems, methods, and non-transitory media are provided for tracking operations using data received from a wearable device. An example method can include determining a first position of a wearable device in a physical space; receiving, from the wearable device, position information associated with the wearable device; determining a second position of the wearable device based on the received position information; and tracking, based on the first position and the second position, a movement of the wearable device relative to an electronic device.

Abstract: In a camera calibration apparatus (10), an acquisition unit (11) acquires a first normal vector in an image plane and a second normal vector in the image plane respectively corresponding to a first normal vector in a world coordinate space and a second normal vector in the world coordinate space which are normal vectors with respect to a reference plane in the world coordinate space and have the same length. A projective depth calculation unit (12) calculates a projective depth vector having, as vector elements, four projective depths respectively corresponding to a start point and an end point of the first normal vector in the image plane and a start point and a end point of the second normal vector in the image plane.

Abstract: Sub-diffraction limited fluorescent images using a fiber-based stimulated emission depletion (STED) microscope are reported. Both excitation and depletion beams are transported through polarization-maintaining fiber and a lateral resolution of 100 nm has been achieved.

Abstract: Indirect time-of-flight (i-ToF) image sensor pixels, i-ToF image sensors including such pixels, stereo cameras including such image sensors, and sensing methods to obtain i-ToF detection and phase detection information using such image sensors and stereo cameras. An i-ToF image sensor pixel may comprise a plurality of sub-pixels, each sub-pixel including a photodiode, a single microlens covering the plurality of sub-pixels and a read-out circuit for extracting i-ToF phase signals of each sub-pixel individually.

Abstract: The present disclosure discloses a three-dimensional (3D) image sensor and a related 3D image sensing module and hand-held device. The 3D image sensor includes, a photosensitive pixel array, including: a first photosensitive pixel; a second photosensitive pixel; and a pixel control signal transmission line, so that the first photosensitive pixel and the second photosensitive pixel respectively output a first photosensitive value and a second photosensitive value according to a pixel control signal; wherein the pixel control signal reaches a first node at a first time point and reaches a second node at a second time point; a delay detection module, including: a first delay detection circuit, for determining a time difference between the first time point and the second time point; and a processing unit, for generating the first depth information and the second depth information based on the first photosensitive value, the second photosensitive value, and the time difference.

Abstract: A method in a navigational controller includes: obtaining image data and depth data from corresponding sensors of a mobile automation apparatus; detecting an obstacle from the depth data and classifying the obstacle as one of a human obstacle and a non-human obstacle; in response to the classifying of the obstacle as the human obstacle, selecting a portion of the image data that corresponds to the obstacle; detecting, from the selected image data, a feature of the obstacle; based on a detected position of the detected feature, selecting an illumination control action; and controlling an illumination subsystem of the mobile automation apparatus according to the selected illumination control action.

Abstract: Auto exposure processing for spherical images improves image quality by reducing visible exposure level variation along a stitch line within a spherical image. An average global luminance value is determined based on auto exposure configurations of first and second image sensors. Delta luminance values are determined for each of the image sensors based on the average global luminance value and a luminance variance between the image sensors. The auto exposure configurations of the image sensors are then updated using the delta luminance values, and the updated auto exposure configurations are used to capture images which are then combined to produce the spherical image. In some cases wherein updating the auto exposure configurations using the delta luminance values would breach a threshold representing a target luminosity for the scene, the use of the delta luminance values may be limited or those values may instead be discarded.

Abstract: An imaging device includes a light source operated by an optical control signal generated using a first reference signal having a first frequency and a second reference signal, having a second frequency different from the first frequency, a plurality of pixels, each of the plurality of pixels including a pixel circuit outputting a pixel signal corresponding to the electrical charge of a photodiode, and a logic circuit configured to generate raw data to generate a depth image, using the pixel signal. The plurality of pixels include first pixels and second pixels, and the logic circuit inputs a first photo control signal, having the first frequency, to the pixel circuit connected to a photodiode in each of the first pixels, and inputs a second photo control signal, having the second frequency, to the pixel circuit connected to a photodiode in each of the second pixels.

Abstract: Provided are an image processing device and an image processing method that enable simple generation of a plurality of viewpoint images of a free viewpoint image. The image processing device determines, corresponding to a user operation, a virtual-viewpoint data group including respective pieces of data of a plurality of virtual viewpoints to a predetermined 3D object, and generates, for the plurality of virtual viewpoints, respective virtual viewpoint images each as an image of the 3D object viewed from a corresponding virtual viewpoint.