Seiko Epson Corporation

Guoyi Fu

Mikhail Brusnitsyn

Jia Li

Yang Yang

Eunice Poon

Ian Clarke

Alex Levinshtein

Arash Abadpour

Ivo Moravec

Irina Kezele

Shinya Sato

Jie Wang

Seungsik Kwak

Margarit Simeonov Chenchev

Yury Yakubovich

Lihui Chen

Joseph Chitai Lam

Xiangdong Wang

Jun Yang

Dan Rico

Position detection methods and systems are disclosed herein. The position detection method of detecting a position in an operation surface pointed by a pointing element includes obtaining a first taken image with the first infrared camera, obtaining a second taken image with the second infrared camera, removing a noise component from the first and second images converting the first and second taken into converted images without the noise component, forming a difference image between the first converted taken image and the second converted taken image, extracting a candidate area in which a disparity amount between the first converted taken image and the second converted taken image is within a predetermined range, detecting a tip position of the pointing element from the candidate area, and determining a pointing position of the pointing element and whether or not the pointing element had contact with the operation surface based on the detecting.

Position detection method, position detection device, and display device

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.

Object attitude detection device, control device, and robot system

A head-mounted display device includes a camera, an inertial sensor in a first spatial relationship with the camera, and a processor that: acquires an image data sequence from the camera; and acquires a sensor data sequence from the inertial sensor; derives a first pose of an object based at least on one of image frames in the image data sequence and template data created based on a 3D model corresponding to the object; derives a second spatial relationship between an object coordinate system defined on the object or the 3D model and a global coordinate system based at least on the first pose or a pose tracked from the first pose, the sensor data sequence and the first spatial relationship; and derives a second pose of the object based at least on the image data sequence, the sensor data sequence and the second spatial relationship using a non-linear estimation algorithm.

Information processing device and computer program

A head-mounted display device includes a deriving section that derives an object distance of a real object included in an outside scene to be imaged and a relative pose of the real object with respect to an imaging section, a parameter selection section that selects one parameter group among a plurality of parameter groups for displaying an AR image associated with the real object on an image display section in accordance with the object distance; and a display image setting section that sets a display image in which a pose of the AR image and a pose of the real object are associated with each other, on the basis of the object distance, the relative pose of the real object, and the selected one parameter group, and displays the display image on the image display section.

Head-mounted display device and computer program

A head-mounted display device includes an image display section, an imaging section, an image setting section configured to set an image, an operation input section, an object specification section configured to derive a spatial relationship of a specific object included in an imaged outside scene with respect to the imaging section, and a parameter setting section. The image setting section causes the image display section to display a setting image based at least on the derived spatial relationship and a predetermined parameter group so as to allow a user to visually perceive the setting image, and the parameter setting section adjusts at least one parameter in the parameter group so as to allow the user to visually perceive a condition that at least a position and pose of the setting image and those of the specific object are substantially aligned with each other.

Controlling a display of a head-mounted display device

An information processing device which processes information regarding a 3D model corresponding to a target object, includes a template creator that creates a template in which feature information and 3D locations are associated with each other, the feature information representing a plurality of 2D locations included in a contour obtained through a projection of the prepared 3D model onto a virtual plane based on a viewpoint, and the 3D locations corresponding to the 2D locations and being represented in a 3D coordinate system, the template being correlated with the viewpoint.

A head-mounted display device includes an image display section, an imaging section, an image setting section, an object specification section configured to specify a specific object from within an outside scene captured by the imaging section, and a parameter setting section. The image setting section causes the image display section to display a marker image. After the parameter setting section determines that a user's head is substantially in a static condition, the image setting section provides information on time left for the imaging section to capture the outside scene. The parameter setting section obtains an image captured by the imaging section when the time expires.

A marker whose at least one of a position and pose with respect to a capturing unit is estimated includes: quadrilateral specifying points that specify a quadrilateral shape; a first circle group that is a group of a plurality of circles whose centers are present in a line of a first diagonal which is one of two diagonals of the specified quadrilateral shape, and which are included in the quadrilateral shape; a second circle group that is a group of a plurality of circles whose centers are present in a line of a second diagonal which is the other diagonal of the two diagonals than the first diagonal, and which are included in the quadrilateral shape; and a direction-identification point that specifies a direction of the quadrilateral shape.

Marker, method of detecting position and pose of marker, and computer program

A method includes acquiring first and second images that are captured by imaging a first real marker with a camera when the camera is respectively at a first and second positions with respect to the first real marker, deriving a motion of an inertial sensor based on output of the inertial sensor when the camera moves from the first position to the second position, displaying a marker image corresponding to a second real marker on a display, acquiring a third image that is obtained by capturing the second real marker with the camera when a user perceives the marker image and the second real marker being aligned with each other, and deriving a first spatial relationship between the camera and the inertial sensor and a second spatial relationship between the camera and the display based at least on the first and second images, the motion, and the third image.

Computer program, head-mounted display device, and calibration method

A head-mounted display device includes an image display having an optical element to transmit light from an outside scene, a display element to display an image, a camera, a memory configured to store data of a marker image, and one or more processors. The one or more processors display an image on the image display and derive at least one of a camera parameter of the camera and a spatial relationship, based at least on an image that is captured by the camera in a condition that allows a user to visually perceive that the marker image displayed by the image display and a real marker corresponding to the marker image align at least partially with each other. The real marker includes a first set of feature elements within a rectangle, and the marker image includes a second set of feature elements.

A head-mounted display device includes an image display section configured to display an image, an imaging section, a memory section configured to store data of a marker image, an image setting section configured to cause the image display section to display an image based at least on the data, and a parameter setting section. The parameter setting section derives at least one of camera parameters of the imaging section and a spatial relationship, the spatial relationship being between the imaging section and the image display section, based at least on an image that is captured by the imaging section in the case where the imaging section acquires a captured image of a real marker.

A method of calibration for a head-mounted display device including an camera, an inertial sensor and a processor causes the processor to realize functions of: acquiring a first image and a second image that are captured by imaging a first real marker with the camera when the inertial sensor is respectively at a first pose and a second pose; acquiring a difference in pose between the first pose and the second pose based on output of the inertial sensor; and deriving a spatial relationship between the camera and the inertial sensor based at least on the first image, the second image and the difference in pose.

Program, device, and calibration method for a camera and an inertial sensor

A virtual image display device configuring a display device includes a display section configured to display an image while enabling visual recognition of an outside scene. The virtual image display device includes an image pickup section configured to pickup an image in an image pickup range that overlaps a range visually recognized through the display section. The virtual image display device includes a coupling section including at least one movable section and configured to couple the image pickup section to the display section. The display device is capable of acquiring a motion amount in the movable section with a control section.

Display device, control method for display device, and computer program

An image display device includes a first inertial sensor, an imaging section, and a calculation section. The calculation section calculates a first spatial relationship between the marker and the imaging section in the case where the imaging section captures an image of a marker presented by a device including a second inertial sensor, and calculates a second spatial relationship between the imaging section and the first inertial sensor based at least on the first spatial relationship, first data and second data, the first data including a first orientation of the first inertial sensor and the second data including a second orientation of the second inertial sensor respectively obtained from the first inertial sensor and the second inertial sensor.

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Vaughan, Canada

Guoyi Fu