Patent application number | Description | Published |
20090102834 | IMAGE PROCESSING APPARATUS AND IMAGE PROCESSING METHOD | 04-23-2009 |
20090115784 | IMAGE PROCESSING APPARATUS AND IMAGE PROCESSING METHOD - Upon generation of an image of a virtual space on which a virtual object is laid out using a ray tracing method, an approximate virtual object, which is configured by at least one virtual element to approximate the shape of a physical object, is laid out on the virtual space. Then, intersect determination between a ray generated based on the ray tracing method and an object on the virtual space is executed. As a result of the intersect determination, when the ray and the approximate virtual object have a predetermined intersect state, a pixel corresponding to the ray is generated based on a ray before the predetermined intersect state is reached. | 05-07-2009 |
20090128552 | IMAGE PROCESSING APPARATUS FOR COMBINING REAL OBJECT AND VIRTUAL OBJECT AND PROCESSING METHOD THEREFOR - When an image in a virtual space in which a virtual object is arranged is generated using a ray tracing method, and when it is determined that a ray which is generated in accordance with the ray tracing method successively intersected an approximate virtual object such as a hand which is a real object at lest twice, an image corresponding to a first intersection is generated in accordance with the ray emitted to the first intersection. | 05-21-2009 |
20090259443 | INFORMATION PROCESSING METHOD AND INFORMATION PROCESSING APPARATUS - While a recording mode is being set, a manipulation log about a manipulation target virtual object is recorded in a memory (S | 10-15-2009 |
20100295924 | INFORMATION PROCESSING APPARATUS AND CALIBRATION PROCESSING METHOD - An information processing apparatus, which provides images for stereoscopic viewing by synthesizing images obtained by capturing an image of real space by a main image sensing device and sub image sensing device to a virtual image, measures the position and orientation of the main image sensing device, calculates the position and orientation of the sub image sensing device based on inter-image capturing device position and orientation held in a holding unit and the measured position and orientation of the main image sensing device. Then the information processing apparatus calculates an error using the measured position and orientation of the main image sensing device, the calculated position and orientation of the sub image sensing device, and held intrinsic parameters of the main image sensing device and sub image sensing device. The information processing apparatus calibrates the held information based on the calculated error. | 11-25-2010 |
20110211066 | POSITION AND ORIENTATION MEASUREMENT APPARATUS, POSITION AND ORIENTATION MEASUREMENT METHOD, AND STORAGE MEDIUM - A position/orientation measurement apparatus comprises an obtaining unit to obtain a range image to the target object; a determination unit to determine a coarse position/orientation of the target object based on the range image; a calculation unit to calculate a variation degree of distance information on a region of the range image, which region corresponds to a predetermined region on the shape model; a sampling unit to sample, for each predetermined region on the shape model, sample-points from the predetermined region to reduce the number of sample-points as the variation degree is smaller; an association unit to associate the sample-points and three-dimensional measurement points obtained by converting two-dimensional measurement points on the range image into three-dimensional coordinates based on the coarse position/orientation; and a position/orientation determination unit to determine the position/orientation of the target object based on a sum total of distances between the sample-points and the three-dimensional measurement points. | 09-01-2011 |
20120262455 | THREE-DIMENSIONAL MEASUREMENT APPARATUS, MODEL GENERATION APPARATUS, PROCESSING METHOD THEREOF, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM - A three-dimensional measurement apparatus generates a plurality of view-point images obtained by observing a measurement object from a plurality of different view-points using a three-dimensional geometric model, detects edges of the measurement object from the plurality of view-point images as second edges, calculates respective reliabilities of first edges of the three-dimensional geometric model based on a result obtained when the second edges are associated with the first edges, weights each of the first edges based on the respective reliabilities, associates third edges detected from a captured image with the weighted first edges, and calculates a position and an orientation of the measurement object based on the association result. | 10-18-2012 |
20120275654 | POSITION AND ORIENTATION MEASUREMENT APPARATUS, POSITION AND ORIENTATION MEASUREMENT METHOD, AND PROGRAM - A position and orientation measurement apparatus for measuring the position and orientation of a target object includes a first search unit which searches a geometric model for a lost model region corresponding to a lost image region in a range image, a determination unit which determines whether or not a point on a geometric model corresponding to a pixel on the range image of the target object falls within the lost model region, a correction unit which corrects combinations of pixels on the range image and corresponding points which are determined to fall within the lost model region, and a calculation unit which calculates the position and orientation of the target object based on the corrected combinations of the pixels on the range image and points on the geometric model. | 11-01-2012 |
20130076865 | POSITION/ORIENTATION MEASUREMENT APPARATUS, PROCESSING METHOD THEREFOR, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM - A position/orientation measurement apparatus holds a three-dimensional shape model of a object, acquires approximate value indicating a position and an orientation of the object, acquires a two-dimensional image of the object, projects a geometric feature of the three-dimensional shape model on the two-dimensional image based on the approximate value, calculates the direction of the geometric feature of the three-dimensional shape model projected on the two-dimensional image, detects an image feature based on the two-dimensional image, calculates the direction of the image feature, associates the image feature and the geometric feature by comparing the direction of the image feature calculated based on the two-dimensional image and the direction of the geometric feature calculated based on the three-dimensional shape model, and calculates the position and orientation of the object by correcting the approximate value based on the distance between the geometric feature and the image feature associated therewith. | 03-28-2013 |
20130121592 | POSITION AND ORIENTATION MEASUREMENT APPARATUS,POSITION AND ORIENTATION MEASUREMENT METHOD, AND STORAGE MEDIUM - An apparatus comprises: extraction means for extracting an occluded region in which illumination irradiated onto the target object is occluded in an obtained two-dimensional image; projection means for projecting a line segment that constitutes a three-dimensional model onto the two-dimensional image based on approximate values of position/orientation of the target object; association means for associating a point that constitutes the projected line segment with a point that constitutes an edge in the two-dimensional image; determination means for determining whether the associated point that constitutes an edge in the two-dimensional image is present within the occluded region; and measurement means for measuring the position/orientation of the target object based on a distance on the two-dimensional image between the point that constitutes the projected line segment and the point that constitutes the edge, the points being associated as the pair, and a determination result. | 05-16-2013 |
20130127998 | MEASUREMENT APPARATUS, INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND STORAGE MEDIUM - A measurement apparatus includes a projection unit configured to project pattern light onto an object to be measured, an imaging unit configured to capture an image of the object to be measured on which the pattern light is projected to acquire a captured image of the object to be measured, a measurement unit configured to measure a position and/or orientation of the object to be measured on the basis of the captured image, a position and orientation of the projection unit, and a position and orientation of the imaging unit, a setting unit configured to set identification resolution of the pattern light using a range of variation in the position and/or orientation of the object to be measured; and a change unit configured to change a pattern shape of the pattern light in accordance with the identification resolution. | 05-23-2013 |
20140205152 | POSITION AND ORIENTATION MEASUREMENT APPARATUS, POSITION AND ORIENTATION MEASUREMENT METHOD, AND PROGRAM - A position and orientation measurement apparatus for measuring the position and orientation of a target object includes a first search unit which searches a geometric model for a lost model region corresponding to a lost image region in a range image, a determination unit which determines whether or not a point on a geometric model corresponding to a pixel on the range image of the target object falls within the lost model region, a correction unit which corrects combinations of pixels on the range image and corresponding points which are determined to fall within the lost model region, and a calculation unit which calculates the position and orientation of the target object based on the corrected combinations of the pixels on the range image and points on the geometric model. | 07-24-2014 |