A method for obtaining a three-dimensional model of an inspection site, using a perception module, is disclosed. The perception module comprises a detection unit, e.g. comprising one or more cameras and/or a three-dimensional laser scanner, configured to obtain a three-dimensional image. At least one three-dimensional image is obtained by means of the detection unit. A three-dimensional model of surroundings of the perception module is created, based on the obtained three-dimensional image. The created three-dimensional model and a plan of the inspection site are compared and features of the created three-dimensional model and features of the plan of the inspection site are matched. A site-specific three-dimensional model of the inspection site is formed, based on the created three-dimensional model and the plan of the inspection site, and based on the comparison.

An apparatus for capturing a stereo image includes a first objective for producing a first image, a second eye objective for producing a second eye image, a first viewing direction device rotatable about a first axis assigned the first objective, and a second viewing direction device rotatable about a second axis assigned the second objective. The viewing direction of the apparatus is rotatable by simultaneous rotation of the first and second viewing direction devices. The first objective or part is movable in a translational fashion. A cam mechanism is provided and embodied to couple a rotation of the first viewing direction device to a translational movement of the first objective or part.

An apparatus for capturing a stereo image includes a first objective for producing a first image, a second eye objective for producing a second eye image, a first viewing direction device rotatable about a first axis assigned the first objective, and a second viewing direction device rotatable about a second axis assigned the second objective. The viewing direction of the apparatus is rotatable by simultaneous rotation of the first and second viewing direction devices. The first objective or part is movable in a translational fashion. A cam mechanism is provided and embodied to couple a rotation of the first viewing direction device to a translational movement of the first objective or part.

A method and a system for generating a multiview stereoscopic image are provided. The method includes the following steps. An image capturing apparatus captures a real calibration panel to obtain multiple images, and a processor obtains a datum image and multiple images to be calibrated by analyzing the images including the real calibration panel. The processor respectively calculates a homography matrix of each of the images to be calibrated corresponding to the datum image according to the datum image and the images to be calibrated. The processor obtains a calibration matrix of the homography matrix by performing a matrix disassembly calculation on each of the homography matrices. The processor multiplies the images to be calibrated by the corresponding calibration matrix to obtain multiple calibrated images. The processor outputs the multiview stereoscopic image including the datum image and the calibrated images.

A method and a system for generating a multiview stereoscopic image are provided. The method includes the following steps. An image capturing apparatus captures a real calibration panel to obtain multiple images, and a processor obtains a datum image and multiple images to be calibrated by analyzing the images including the real calibration panel. The processor respectively calculates a homography matrix of each of the images to be calibrated corresponding to the datum image according to the datum image and the images to be calibrated. The processor obtains a calibration matrix of the homography matrix by performing a matrix disassembly calculation on each of the homography matrices. The processor multiplies the images to be calibrated by the corresponding calibration matrix to obtain multiple calibrated images. The processor outputs the multiview stereoscopic image including the datum image and the calibrated images.

The present disclosure relates to an imaging apparatus, an information processing method, a program, and an interchangeable lens that enable depth-of-field adjustment.

The imaging apparatus includes a depth-of-field adjustment function that adjusts the depth of field of at least one monocular optical system among a plurality of monocular optical systems having optical paths independent of one another. For example, the depth-of-field adjustment function includes a mechanism that adjusts the depths of field of the monocular optical systems, and an optical system control unit that adjusts the depths of field of the monocular optical systems by driving the monocular optical systems on the basis of control information. The present disclosure can be applied to an imaging apparatus, an electronic apparatus, an interchangeable lens or a camera system that provides a plurality of monocular lenses, an information processing method, a program, or the like, for example.

An information processing system includes a drawing portion that draws a display image for a terminal including one or more display media positioned in a virtual space; an acquisition portion that acquires input from a user; a state switching portion that switches, between a plurality of states, a state of the display medium; a position changing portion that changes the position of the display medium associated with one user in the virtual space, based on a first input from the one user acquired by the acquisition portion when the state of the display medium is a first state; and a viewpoint switching portion that switches a viewpoint of when the drawing portion draws the display image from a first viewpoint to a second viewpoint when the state of the display medium is switched from the first state to a second state by the state switching portion.

An information processing system includes a drawing portion that draws a display image for a terminal including one or more display media positioned in a virtual space; an acquisition portion that acquires input from a user; a state switching portion that switches, between a plurality of states, a state of the display medium; a position changing portion that changes the position of the display medium associated with one user in the virtual space, based on a first input from the one user acquired by the acquisition portion when the state of the display medium is a first state; and a viewpoint switching portion that switches a viewpoint of when the drawing portion draws the display image from a first viewpoint to a second viewpoint when the state of the display medium is switched from the first state to a second state by the state switching portion.

A system for modifying data representing a virtual environment includes: an environment navigation unit operable to control navigation within the virtual environment to generate one or more viewpoints within the virtual environment, an environment identification unit operable to identify one or more aspects of the geometry of the virtual environment visible in the one or more viewpoints, a geometry evaluation unit operable to evaluate the visibility of one or more aspects of the geometry based upon the identification for each of one or more viewpoints, and a data modification unit operable to modify one or more elements of data representing the virtual environment.

A system for modifying data representing a virtual environment includes: an environment navigation unit operable to control navigation within the virtual environment to generate one or more viewpoints within the virtual environment, an environment identification unit operable to identify one or more aspects of the geometry of the virtual environment visible in the one or more viewpoints, a geometry evaluation unit operable to evaluate the visibility of one or more aspects of the geometry based upon the identification for each of one or more viewpoints, and a data modification unit operable to modify one or more elements of data representing the virtual environment.