Canon Kabushiki Kaisha

Rika Takemoto

Kiyohide Satoh

Shinji Uchiyama

Kenji Morita

Daisuke Kotake

Shinichi Aratani

Masahiro Suzuki

Akihiro Katayama

Kazuhiko Kobayashi

Yoshihiko Iwase

Toshihiro Kobayashi

Hiroki Yonezawa

Sonoko Maeda

Toshihiro Nakazawa

In position and orientation measurement based on natural features, erroneous detection of the natural features is prevented when an observation target object is occluded by another object, and registration stability is improved. To this end, an occluding object that can occlude the observation target object is defined, and an occluding region where the occluding object occludes the observation target object is detected in an input captured image. Image features of the observation target object are detected in a region of the captured image other than the detected occluding region. Therefore, the position or orientation of an image pickup apparatus that captured the captured image, or the position or orientation of the observation target object in the captured image are calculated.

Image processing apparatus and method

Indices in an image of a physical space on which a plurality of indices are allocated are identified, and the positions and orientations, on the physical space, of all or some identified indices are calculated.

Image processing method and image processing apparatus of calculating position and orientation of target objects located in image

The first values of position and orientation of an image sensing device are obtained by using positions of all indices in a frame image. Indices having the same inherent information between a first index group (FIG) in the frame image and a second index group (SIG) in a preceding frame image are detected as a common index. If the information of the SIG contains information different from that of the FIG, second values of the position and orientation are obtained by using the positions of the common indices in the preceding frame image. If the information of the FIG contains information different from that of the SIG, third values of the position and orientation are obtained by using the positions of the common indices in the frame image. The first values are corrected by using correction values based on the obtained first to third values.

Position and orientation measurement method and position and orientation measurement apparatus

When a calibration jig () which includes an image sensing device () is moved within the image sensing range of an image sensing device (), the image coordinates of an index () on the image sensing device () in a plurality of images sensed by the image sensing device () are extracted. The image coordinates of environment allocation indices () in a plurality of images sensed by the image sensing device () are extracted. An information processing apparatus () calculates camera parameters of the image sensing device () based on the extracted image coordinates of the index () and the environment allocation indices ().

Information processing apparatus, information processing method, and calibration Jig

An index layout measurement method and apparatus measures a relative layout relationship between a first index or index group which exists in a given first region in a physical space and a second index or index group which exists in a second region. The method includes a first image sensing step of sensing an image so as to simultaneously include some or all of the first index/index group and an auxiliary index which is temporarily laid out in the physical space and a position and orientation in a three-dimensional space of which can be defined, a second image sensing step of sensing an image so as to simultaneously include some or all of the second index/index group and the auxiliary index, and a layout calculation step of calculating a relative layout relationship among the first index/index group, the auxiliary index, and the second index/index group from one or a plurality of images obtained by performing the first image sensing step once or repeating it a plurality of number of times, and one or a plurality of images obtained by performing the second image sensing step once or repeating it a plurality of number of times. The auxiliary index is removed after the layout relationship among the respective indices laid out in the physical space is calculated.

Index layout measurement method, position and orientation estimation method, index layout measurement apparatus, and position and orientation estimation apparatus

An information processing method includes the steps of acquiring a sense image of an image sensing unit, acquiring coordinate values of registered indices, detecting image positions of the registered indices in the sense image, and calculating position and orientation of the image sensing unit on the basis of the detected image positions of the registered indices and the coordinate values of the registered indices. Additional steps include detecting an image position of an additional index in the sense image in accordance with a user's instruction, calculating a coordinate value of the additional index using the image positions of the registered indices, the coordinate values of the registered indices, the position and orientation of the image sensing unit, and the image position of the additional index, and registering the calculated coordinate value of the additional index as a registered index.

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Kawasaki, Japan

Rika Takemoto