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Information processing device and computer program

An algorithm and camera technology, applied in the field of information processing devices, can solve problems such as camera delay

Active Publication Date: 2019-01-04
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, existing techniques such as JP-A-2013-50947 only use cameras to estimate pose
However, the camera has a lag which increases with the movement or speed of the user's head

Method used

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  • Information processing device and computer program
  • Information processing device and computer program
  • Information processing device and computer program

Examples

Experimental program
Comparison scheme
Effect test

no. 1 approach

[0042] A-1. Configuration of information processing device

[0043] A-2. Template creation (training)

[0044] A-2-1. Selection of 2D model points

[0045] A-2-2. Determination of 3D model points and creation of templates

[0046] A-2-3. In-plane rotation optimization for training

[0047] A-2-4. Super template

[0048] A-3. Configuration of Head Mounted Display (HMD)

[0049] A-4. Execution of Estimation of Target Object Pose

[0050] A-4-1. Edge detection

[0051] A-4-2. Template selection

[0052] A-4-3.2D model point correspondence

[0053] A-4-4. Attitude Optimization

[0054] A-4-5. Sub-pixel correspondence

no. 3 approach

[0057] D.Modification

[0058] D-1. Modification 1

[0059] E. 3D Tracking of Objects Using Fusion of Inertial Motion Sensors (IMU) and Camera Sensors

[0060] E-1. Introduction

[0061] E-2-1. Overview

[0062] E-2-1-1. System

[0063] E-2-1-2. Fusion part of IMU sensor

[0064] E-2-1-3. Overview of Sensor Fusion Methods

[0065] E-2-2. Tracker Fusion IMU

[0066] E-2-2-1. Method of fusing IMU with 3D object tracker

[0067] E-2-2-2. Initialize IMU fusion

[0068] E-2-2-2-1. Detecting stationary motion

[0069] E-2-2-3. IMU attitude prediction

[0070] E-2-2-4. IMU divergence determination

[0071] E-2-2-5. IMU object tracker

[0072] E-2-2-5-1. Detect stationary motion

[0073] E-2-2-5-2. Use IMU to predict attitude prediction feature point position / KLT matching using predicted feature position

[0074] E-2-2-5-3. Pose Estimation Using KLT Matching Results and IMU Predicted Pose

[0075] E-2-2-5-4. Pose Refinement via Edge Alignment and IMU Predicted Pose

[007...

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PUM

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Abstract

The invention provides an information processing device and a computer program. A head-mounted display device includes a camera, an inertial sensor in a first spatial relationship with the camera, anda 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 objector 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 secondpose 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.

Description

technical field [0001] Embodiments of the present invention relate to a technology of an information processing device that processes information about a three-dimensional model of a target object using a camera and a motion sensor (for example, an inertial sensor). Background technique [0002] A method of estimating the pose of an object imaged by a camera is disclosed in JP-A-2013-50947, which discloses a technique of creating a binary mask of an input image including an image of an object, extracting from the binary mask as A singlet of points in the inner and outer contours of the object, and the collection of singlets are connected to each other to form a mesh represented as a double matrix, thereby estimating the pose of the object. [0003] However, existing technologies such as JP-A-2013-50947 only use cameras to estimate pose. However, the camera has a delay that increases with the movement or speed of the user's head. Contents of the invention [0004] Embodim...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73
CPCG06T7/73G06T2207/20076G06T2207/20081G06T7/75
Inventor 杨杨王洁符国益
Owner SEIKO EPSON CORP
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