Information processing apparatus, information processing method, and program
AssigneeCanon Kabushiki Kaisha
InventorsYusuke Nakazato, Kazuhiko Kobayashi, Masahiro Suzuki
Life of this patent
Estimating the term…
Abstract
A position and an orientation of an object are measured with high accuracy. An approximate position-orientation of a target object is obtained, positional information of the target object is obtained by measuring the target object using a noncontact sensor, positional information of contact positions touched by a contact sensor is obtained by bringing the contact sensor into contact with the target object, and a position-orientation of the target object is obtained by associating shape information of the target object with the positional information of the target object and the positional information of the contact positions in accordance with the approximate position-orientation.
Claims12
An information processing apparatus comprising:
- a data holding unit configured to hold information on a shape of a target object;
- an approximate position-orientation obtaining unit configured to obtain an approximate position-orientation of the target object;
- a positional information obtaining unit configured to obtain positional information of the target object by measuring the target object by a noncontact sensor;
- a contact position information obtaining unit configured to obtain positional information of contact positions touched by a contact sensor when the contact sensor is brought into contact with the target object;
- an obtaining unit configured to obtain first accuracy information indicating accuracy of the positional information of the target object obtained by the positional information obtaining unit and second accuracy information indicating accuracy of the positional information of the contact positions obtained by the contact position obtaining unit;
- and
- a position-orientation obtaining unit configured to obtain a position-orientation of the target object by associating the shape information of the target object held in the data holding unit with at least one of the positional information of the target object and the positional information of the contact positions in accordance with the approximate position-orientation, the first accuracy information, and the second accuracy information.
An information processing method comprising:
- obtaining an approximate position-orientation of a target object;
- obtaining positional information of the target object by measuring the target object using a noncontact sensor;
- obtaining positional information of contact positions touched by a contact sensor when the contact sensor is brought into contact with the target object;
- obtaining first accuracy information indicating accuracy of the positional information of the target object and second accuracy information indicating accuracy of the positional information of the contact positions;
- and
- obtaining a position-orientation of the target object by associating held information on a shape of the target object with at least one of the positional information of the target object and the positional information of the contact positions in accordance with the approximate position-orientation, the first accuracy information, and the second accuracy information.
A non-transitory computer-readable medium storing a program including instructions, which when executed by one or more processors of an information processing apparatus, cause the information processing apparatus to:
- obtain an approximate position-orientation of the target object;
- obtain positional information of the target object by measuring the target object by a noncontact sensor;
- obtain positional information of contact positions touched by a contact sensor when the contact sensor is brought into contact with the target object;
- obtain first accuracy information indicating accuracy of the positional information of the target object and second accuracy information indicating accuracy of the positional information of the contact positions;
- and
- obtain a position-orientation of the target object by associating held information on a shape of the target object with at least one of the positional information of the target object and the positional information of the contact positions in accordance with the approximate position-orientation, the first accuracy information, and the second accuracy information.
Dependencies are inferred from the claim text.