Fujitsu Corporation

Nobuyasu Yamaguchi

Tsugio Noda

Hirotaka Chiba

Fumihiko Nakazawa

Satoshi Sano

Yasuhide Iwamoto

Atsunori Moteki

Atsuo Iida

Hiroyuki Takakura

Toshiyuki Yoshitake

Takahiro Matsuda

Kenichiro Sakai

Fumitaka Abe

Hiroshi Ishikawa

Taichi Murase

Hiroshi Kuwabara

Yojiro Numata

Susumu Koga

Ayu Karasudani

Tomohiro Aoyagi

Shoji Yamaguchi

An image processing method includes calculating a first feature-quantity that includes feature-quantities for indicating features of individual pixel values of pixels located in a first direction perpendicular to a first line segment out of line segments and feature-quantities for indicating features of individual pixel values of pixels located in a second direction opposite to the first direction with respect to the first line segment, and calculating, based on pixel values of pixels located for each predetermined distance in a third direction perpendicular to a second line segment out of the line segments and pixel values of pixels located for each of the predetermined distance in a fourth direction opposite to the third direction with respect to the second line segment, a second feature-quantity that includes feature-quantities for indicating individual features of the pixels located for each of the predetermined distance from the second line segment.

Image processing method and image processing apparatus

An information processing apparatus configured to store a plurality of images captured by an imaging device, store first position information and first orientation information indicating positions and orientations of the imaging device in capturing of each of the plurality of images, identify, among from the plurality of images, a first image resembling a second image, identify a first area included in the first image, identify a second area, included in the second image, corresponding to the first area, identify second position information and second orientation information indicating a position and an orientation of the imaging device respectively in capturing of the second image, based on a comparison between a first luminance of a first pixel included in the first area and a second luminance of a second pixel included in the second area and the first position information and the first orientation information of the first image.

Information processing apparatus, method and non-transitory computer-readable storage medium

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.

Non-transitory computer-readable storage medium, display control method, and display control apparatus

A method includes specifying a position of a virtual object based on a position of a map point that is defined in a first map and indicates three-dimensional coordinates of a feature point, correcting the position of the virtual object based on positions of a plurality of map points defined in a second map and a capturing direction of a camera when the first map is changed to the second map that is different from the first map, and controlling a display to display the virtual object, based on the corrected position of the virtual object and an image captured by the camera.

Techniques to facilitate accurate real and virtual object positioning in displayed scenes

A computer estimates a first position of an image capturing apparatus by using a prescribed number of combinations that correlate projection lines to feature lines. The projection lines are obtained by projecting candidate lines included in shape information of an object onto an image. Then, the computer generates a first projection line by projecting another candidate line onto the image using the first position, and selects a feature line that corresponds to the first projection line. Subsequently, the computer estimates a second position of the image capturing apparatus by using a combination that correlates the first projection line to the selected feature line. The computer generates a second projection line by projecting the other candidate line onto the image using the second position, and determines a third position of the image capturing apparatus according to an indicator of an interval between the second projection line and the other feature line.

Image processing apparatus and image processing method

An image processing device divides a recognition purpose image into a plurality of areas, selects feature points in the recognition purpose image such that a bias of the number of the feature points included in each of the areas is small registers information on the selected feature points in the recognition purpose image in a memory and estimates a position and an orientation of the camera based on the recognition purpose image registered in the memory and based on a captured image captured by a camera.

Image processing device, image processing method, and non-transitory computer-readable recording medium

A computer extracts a plurality of candidate lines that are observed from a position of an imaging device that captures an image of an object from among a plurality of candidate lines included in shape information of the object. The computer generates plural pieces of association information indicating a prescribed number of combinations obtained by respectively associating the prescribed number of candidate lines of the observed plurality of candidate lines with the prescribed number of feature lines of a plurality of feature lines detected from the image. The computer determines an association result according to respective errors of the plural pieces of association information.

Image processing device and image processing method

An image processing method includes acquiring a three-dimensional model obtained by modeling a plurality of objects included in a work space, acquiring, from a camera which is hold by a user, an image captured by the camera, the user existing in the work space, acquiring, from a sensor which is hold by the user, distance information indicating distances between the sensor and each of the plurality of objects, determining a position of the user in the work space based on the three-dimensional model and the distance information, identifying a predetermined region closest to the position of the user among at least one of predetermined regions defined in the three-dimensional model, generating a display screen displaying the predetermined region and the image, and outputting the display screen to another computer.

Augmented reality device and method for providing assistance to a worker at a remote site

A method includes associating a plurality of first feature points with a plurality of second feature points, the plurality of first feature points being included in a keyframe that represents a first captured image at a first time when a position and an orientation of a camera are successfully estimated, the plurality of second feature points being included in a second captured image captured at a second time, calculating vectors based on feature descriptors of the first feature points and feature descriptors of the second feature points for respective pairs of the first feature points and the second feature points, determining whether an association of the first feature points and the second feature points is satisfactory, and performing an estimation process that estimates a new position and a new orientation of the camera at the second time when the association is determined to be satisfactory.

Estimation device and method

A coordinate-conversion-parameter determination apparatus includes a marker detector that detects feature points of a marker from each of a first and second images; a three-dimensional position determiner that calculates three-dimensional coordinates of each of the feature points of the marker in a camera coordinate system in which reference is a first place, based on positions of the feature points in the first and second images; and a coordinate-conversion-parameter determiner that calculates a coordinate conversion parameter so that a sum of absolute values of errors between three-dimensional coordinates in a world coordinate system, the three-dimensional coordinates in the world coordinate system being obtained by converting the three-dimensional coordinates of the feature points of the marker in the camera coordinate system by using the coordinate conversion parameter, and three-dimensional coordinates of feature points in the world coordinate system that correspond to the feature points of the marker in real space is minimized.

Coordinate-conversion-parameter determination apparatus, coordinate-conversion-parameter determination method, and non-transitory computer readable recording medium having therein program for coordinate-conversion-parameter determination

A device includes a processor configured to execute a first estimation process including detecting a marker from a captured image, and estimating first position and posture of a camera at a time when the captured image is captured, based on a shape of the marker, execute a second estimation process including obtaining a map point in a three-dimensional space from the memory, and estimating second position and posture of the camera at the time when the captured image is captured, based on a correspondence between a projection point in which the map point is projected on the captured image and a characteristic point extracted from the captured image, and select the first position and posture or the second position and posture based on a result of comparison between a first translational component of the first position and posture and a second translational component of the second position and posture.

Image processing device, image processing method, and non-transitory computer-readable storage medium that determines camera position based on a comparison of estimated postures

A method includes determining movement of a camera from a first time point when a first image has been captured to a second time point when a second image has been captured, performing first estimation processing for estimating a position and pose of the camera in the second time point based on image data at the time of capturing, a past image captured in the past, and a past position and pose of the camera at a time point when the past image has been captured, when the movement is not a translational movement and a rotation movement around an optical direction, and performing a second estimation processing for estimating the position and pose based on a feature descriptor of a feature point extracted from the second image and a feature descriptor of a map point accumulated when the movement is the translational movement or the rotational movement.

Camera pose estimation device and control method

A three-dimensional coordinate computing apparatus includes an image selecting unit and a coordinate computing unit. The image selecting unit selects a first selected image from multiple captured images, and selects a second selected image from multiple subsequent images captured by the camera after the first selected image has been captured. The second selected image is selected based on a distance between a position of capture of the first selected image and a position of capture of each of the multiple subsequent images and the number of corresponding feature points, each of which corresponds to one of feature points extracted from the first selected image and one of feature points extracted from each of the multiple subsequent images. The coordinate computing unit computes three-dimensional coordinates of the multiple corresponding feature points based on two-dimensional coordinates of each corresponding feature point in the first and second selected images.

Three-dimensional coordinate computing apparatus, three-dimensional coordinate computing method, and non-transitory computer readable recording medium having therein program for three-dimensional coordinate computing

A device includes a memory configured to store map point information including a first map point group indicating a three-dimensional position of an object measured by a distance sensor and a second map point group indicating a three-dimensional position of the object determined based on captured images and a processor configured to compare a first projection point group of the first map point group with a feature point group extracted from a new captured image, create pairs of a feature point in the feature point group and a first projection point that is similar to the feature point, when the number of the pairs is less than or equal to a threshold, compare a second projection point group of the second map point group with the feature point group, create other pairs of the feature point and a second projection point, and estimate a position and attitude of a camera.

An image processing apparatus, includes a processor configured to obtain a marker image including a first pixel area including a first image indicating a shape of an outer frame and a second pixel area and a second image arranged within the outer frame, extract an intersecting point of a first line segment in parallel with a boundary between the first pixel area and the second pixel area which are adjacent to each other along a predetermined direction and a second line segment in parallel with a boundary between the first pixel area and the second pixel area which are adjacent to each other along a direction perpendicular to the predetermined direction, a first apex indicating an apex of four corners of the outer frame, and a second apex included in the second image, and identify a display position using the intersecting point, the first apex, or the second apex.

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Kawasaki, Japan

Nobuyasu Yamaguchi