Patent ID: 8249393
Filing Date: 2012-08-21
Classification: G06T

Abstract:
1. An image processing apparatus comprising: a unit which holds layout position information indicating a layout position on a physical space of each of a plurality of indices laid out on the physical space; a unit which acquires an image of the physical space by sensing the physical space using an image sensing device attached with an orientation sensor; a unit which detects indices in the image of the physical space, and calculates coordinate values of the detected indices in the image; a unit which acquires orientation information measured by the orientation sensor at the time of sensing of the image of the physical space; an acquisition unit which acquires position and orientation information of the image sensing device at the time of sensing of the image of the physical space, and acquires a parameter value according to a frequency at which the image sensing device is located to have an orientation indicated by orientation information included in the acquired position and orientation information; a generation unit which generates sets of the coordinate values and the orientation information for the respective indices in the image of the physical space; and a calculation unit which calculates an orientation of the orientation sensor with respect to the image sensing device using the position and orientation information, the parameter value, and the sets generated for the respective indices by said generation unit, wherein said calculation unit calculates errors between projected positions, on the image of the physical space, of the layout positions indicated by the layout position information based on the position and orientation information, and positions indicated by the coordinate values for the respective indices in the image of the physical space, and calculates the orientation of the orientation sensor with respect to the image sensing device using the calculated errors for the respective indices and the parameter value.