Head-mounted display device, image processing device, control method of head-mounted display device, and non-transitory computer readable medium each of which estimate at least one of position and orientation of head-mounted display device

A head-mounted display device comprising:

• a first camera provided on a front surface;
• a second camera provided on a side surface;
• and
• one or more processors and/or circuitry configured to:
• (1) execute first acquisition processing of acquiring first information on a state including at least one of a position and an orientation of the head-mounted display device on a basis of an image captured by the first camera;
• (2) execute second acquisition processing of acquiring second information on the state on a basis of an image captured by the second camera;
• and
• (3) execute generation processing of generating an image of a virtual object,
• wherein in the generation processing, in a case where the first information is not capable of being acquired with accuracy higher than a predetermined accuracy in the first acquisition processing, the image of the virtual object is generated on a basis of the second information.

A head-mounted display device comprising:

• a camera provided on a front surface;
• a projector provided on the front surface and configured to project invisible light;
• and
• one or more processors and/or circuitry configured to:
• (1) execute acquisition processing of acquiring a position-and-orientation information of the head-mounted display device on a basis of an image captured by the camera;
• and
• (2) execute distance measuring processing of acquiring distance information of an object on a basis of an image captured by the camera,
• wherein in the acquisition processing, the position-and-orientation information is acquired on a basis of the image captured by the camera during a period in which the invisible light is not projected, and
• wherein in the distance measuring processing, the distance information is acquired on a basis of an image captured by the camera during a period in which the invisible light is projected.

A control method of a head-mounted display device, the head-mounted display device including (1) a first camera provided on a front surface and (2) a second camera provided on a side surface, the control method comprising:

• acquiring first information on a state including at least one of a position and an orientation of the head-mounted display device on a basis of an image captured by the first camera;
• acquiring second information on the state on a basis of an image captured by the second camera;
• and
• generating an image of a virtual object,
• wherein in a case where the first information is not capable of being acquired with accuracy higher than a predetermined accuracy, the image of the virtual object is generated on a basis of the second information.