Computer program, head-mounted display device, and calibration method

A head-mounted display device comprising:

• a camera;
• an inertial sensor;
• an optical see-through type display;
• and
• a processor configured to:
• acquire a first image and a second image that are captured by imaging a first real marker with the camera when the camera is respectively at a first position and a second position relative to the first real marker,
• derive a motion of the inertial sensor based on output of the inertial sensor when the camera moves from the first position to the second position,
• display a marker image corresponding to a second real marker on the display,
• acquire a third image that is obtained by capturing the second real marker with the camera when a user is allowed to visually perceive the marker image and the second real marker being aligned with each other, and
• derive a first spatial relationship between the camera and the inertial sensor and a second spatial relationship between the camera and the display based on at least on the first image, the second image, the motion of the inertial sensor, and the third image.

A method of calibration for a head-mounted display device including a camera, an inertial sensor, and an optical see-through type display,

• the method comprising:
• acquiring a first image and a second image that are captured by imaging a first real marker with the camera when the camera is respectively at a first position and a second position relative to the first real marker;
• deriving a motion of the inertial sensor based on output of the inertial sensor when the camera moves from the first position to the second position;
• displaying a marker image corresponding to a second real marker on the display;
• acquiring a third image that is obtained by capturing the second real marker with the camera when a user is allowed to visually perceive the marker image and the second real marker being aligned with each other;
• and
• deriving a first spatial relationship between the camera and the inertial sensor and a second spatial relationship between the camera and the display based on at least on the first image, the second image, the motion of the inertial sensor, and the third image.