Information processing apparatus and calibration processing method

摘要

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.

主权项

1. An information processing apparatus, which provides images for stereoscopic viewing by synthesizing images, obtained by capturing an image of a real space by a stereoscopic viewing apparatus that mounts both a first image capturing device and a second image capturing device, with a virtual image, said apparatus comprising:
a first acquisition unit configured to acquire a first captured image obtained by capturing an index on the real space by the first image capturing device; a first index detection unit configured to detect the index from the first captured image; a position and orientation measurements unit configured to measure a first position and orientation of the first capturing device based on the index detected by the first index detection unit; a holding unit configured to hold information including at least relative position and orientation information that indicates a relative position and orientation relationship between the first capturing device and the second capturing device; a first calculation unit configured to calculate a position and orientation of the second image capturing device, based on the relative position and orientation information held in the holding unit, and the first position and orientation of the first image capturing device measured by said position and orientation measurement unit; a second calculation unit configured to calculate a position of a projected index in a projection plane, by projecting the index detected from the first captured image on the projection plane based on the position and orientation of the second image capturing device calculated by the first calculation unit; a second acquisition unit configured to acquire a second captured image obtained by capturing an index on the real space by the second image capturing device; a second index detection unit configured to detect the index from the second captured image; an error detection unit configured to detect an error in the relative position and orientation information held in the holding unit by comparing positions of the projected index with the index detected by said second index detection unit; and an output unit configured to output the error when the error detection unit detects the error.