Canon Kabushiki Kaisha

Shinichi Aratani

Kiyohide Satoh

Daisuke Kotake

Shinji Uchiyama

Kazuki Takemoto

Rika Takemoto

Kenji Morita

Kazuhiko Kobayashi

Takaaki Endo

Mahoro Anabuki

Takashi Aso

Naoko Ogata

An information processing apparatus comprises a first acquisition unit configured to acquire information concerning an index based on a captured image including a physical object added with the index, a second acquisition unit configured to acquire a thumbnail image of the physical object, and a holding unit configured to hold, in a memory, physical object information including the information and the thumbnail image of the physical object added with the index.

Information processing apparatus, information processing method, and non-transitory computer-readable storage medium for obtaining a position/orientation of an object

An information processing apparatus includes an obtainment unit configured to obtain an image from an image capturing apparatus, a selection unit configured to select either of an estimation accuracy priority mode which prioritizes estimation accuracy of at least either one of a position and an orientation of the image capturing apparatus over a frame rate, and a frame rate priority mode which prioritizes the frame rate over the estimation accuracy, an estimation unit configured to estimate at least either one of the position and the orientation of the image capturing apparatus based on a feature of the image according to the mode selected by the selection unit, and a control unit configured to cause a display unit to display an image based on at least either one of the estimated position and the estimated orientation of the image capturing apparatus.

Information processing apparatus and storage medium

An image obtaining unit that obtains an image picked up by an image pickup apparatus, a first detection unit that detects a first feature from the image, a second detection unit that detects a second feature different from the first feature from the image by using a method different from a method of the first detection unit, a first position orientation derivation unit that derives a position orientation of the image pickup apparatus as a first position orientation on the basis of the first feature detected from the image, a second position orientation derivation unit that derives a position orientation of the image pickup apparatus as a second position orientation on the basis of the second feature detected from the image, and a decision unit that decides the position orientation of the image pickup apparatus on the basis of the first position orientation and the second position orientation are provided.

Information processing apparatus, information processing method, and program for deriving a position orientation of an image pickup apparatus using features detected from an image

Position/orientation information that indicates the position and orientation of an image sensing device is estimated on the basis of three-dimensional position information of a registered feature and a feature in a frame image captured by the image sensing device. Three-dimensional position information of an unregistered feature is generated on the basis of the estimated position/orientation information, and the generated three-dimensional position information is registered. The generation and registration of the three-dimensional position information of the unregistered feature are controlled in accordance with execution of the estimation.

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

A warning information output outputs warning information for a user, based on a position of the user and a position of a real object with which data is associated in a case where a first attribute indicates outputting of the warning information for the user. An image output outputs an image to be generated, in a case where a second attribute indicates drawing of a virtual object in accordance with the position of the real object and a position at which the virtual object to be viewed by the user is arranged, by not drawing the virtual object in a region in which the position of the real object with which the data is associated is closer to the position of the user than the position at which the virtual object is arranged.

Information processing apparatus, information processing method, and storage medium

Arrangement positions in a physical space, which are set in advance for a plurality of indices, are acquired. Among indices in an image of the physical space, an index that satisfies a predetermined condition is specified as a target index. Notification of the arrangement position of the target index is performed.

Information processing apparatus and information processing method

An information processing apparatus includes an image obtaining unit that obtains an image captured by an image capturing apparatus. An index detection unit detects index information from the image. A measurement value obtaining unit obtains a measurement value measured by a sensor. A determination unit determines a suitability of calibration data for the sensor, which includes the index information and the measurement value, based on the index information and the measurement value. A presentation unit presents the suitability.

Information processing apparatus, information processing method and computer-readable storage medium

An information processing apparatus includes a region segmentation unit configured to segment each of a plurality of images shot by an imaging apparatus for shooting an object from a plurality of viewpoints, into a plurality of regions based on colors of the object, an attribute determination unit configured to determine, based on regions in proximity to intersections between scanning lines set on the each image and boundary lines of the regions segmented by the region segmentation unit in the each image, attributes of the intersections, a correspondence processing unit configured to obtain corresponding points between the images based on the determined intersections' attributes, and a three-dimensional position calculation unit configured to calculate a three-dimensional position of the object based on the obtained corresponding points.

Information processing apparatus, three-dimensional position calculation method, and program

From a sequence of images captured by an image pickup unit, images necessary for measuring placement information regarding markers and/or a sensor are automatically determined and obtained. To this end, using position and orientation information regarding the image pickup unit at the time the image pickup unit has captured an obtained image and placement information regarding detected markers, whether to use the captured image corresponding to the position and orientation is determined. Using the captured image determined to be used, the marker placement information, placement information regarding a measurement target, or the position and orientation of the image pickup unit serving as an unknown parameter is obtained so as to minimize the error between the measured image coordinates and theoretical image coordinates of each marker, which are estimated on the basis of a rough value of the parameter.

Information processing method and apparatus for calculating information regarding measurement target on the basis of captured images

Indices allocated or set on an object are detected from sensed images of frames, which are time-serially sensed by an image sensing device. In association with each index detected from the sensed image of the frame of interest, a detection condition from frames before the frame of interest is acquired. According to the acquired detection condition of the index, the reliability of this index is calculated. The position and orientation of the object or the image sensing device are calculated using at least information associated with the image coordinates of the detected indices and the reliabilities of the indices.

Position and orientation measurement method and position and orientation measurement apparatus

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.

An information processing method for obtaining placement information of a first position and orientation sensor attached to an object with respect to the object includes an image input step of inputting an image of the object captured by an image capturing device, and a sensor measurement value input step of inputting a first measurement value of the first position and orientation sensor and a second measurement value of a second position and orientation sensor attached to the image capturing device. An index detecting step detects information about image coordinates of an index attached to the object from the image, and a placement information calculating step calculates the placement information by using the first and second measurement values of the first and second position and orientation sensors and the information about the image coordinates of the index.

Information processing method and information processing 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 ().

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Tokyo, Japan

Shinichi Aratani