Information processing apparatus, information processing method, and storage medium
AssigneeCanon Kabushiki Kaisha
InventorKeita Masuda
Life of this patent
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Abstract
An information processing apparatus includes a depth image acquisition unit configured to acquire a depth image from a measurement apparatus that has measured a distance to an object, an image acquisition unit configured to acquire a captured image from an image capturing apparatus that has captured an image of the object, and an estimation unit configured to estimate a shape of the object based on the depth image and the captured image. The estimation unit acquires information about a contour of the object from the captured image, corrects the information about the contour based on the depth image, and estimates the shape of the object based on the corrected information about the contour.
Claims22
An information processing apparatus comprising:
- one or more processors;
- and
- at least one memory storing executable instructions, which when executed by the one or more processors, cause the information processing apparatus to:
- acquire depth information from a measurement apparatus that has measured a distance to an object;
- acquire a captured image from an image capturing apparatus that has captured an image of the object;
- acquire information about a contour of the object from the captured image;
- estimate a contour position of the object based on the information about the contour of the object and depth gradient data corresponding to the contour position on the depth information;
- correct the estimated contour position of the object based on color gradient data corresponding to the contour position on the captured image;
- and
- estimate a shape of the object based on the corrected contour position of the object.
An information processing method comprising:
- acquiring depth information from a measurement apparatus that has measured a distance to an object;
- acquiring a captured image from an image capturing apparatus that has captured an image of the object;
- acquiring information about a contour of the object from the captured image;
- estimating a contour position of the object based on the information about the contour of the object and depth gradient data corresponding to the contour position on the depth information;
- correcting the estimated contour position of the object based on color gradient data corresponding to the contour position on the captured image;
- and
- estimating a shape of the object based on the corrected contour position of the object.
A non-transitory storage medium storing a program causing a computer to execute an information processing method for estimating a shape of an object, the information processing method comprising:
- acquiring depth information from a measurement apparatus that has measured a distance to the object;
- acquiring a captured image from an image capturing apparatus that has captured an image of the object;
- acquiring information about a contour of the object from the captured image;
- estimating a contour position of the object based on the information about the contour of the object and depth gradient data corresponding to the contour position on the depth information;
- correcting the estimated contour position of the object based on color gradient data corresponding to the contour position on the captured image;
- and
- estimating the shape of the object based on the corrected contour position of the object.
An information processing apparatus comprising:
- one or more processors;
- and
- at least one memory storing executable instructions, which when executed by the one or more processors, cause the information processing apparatus to:
- acquire depth information from a measurement apparatus that has measured a distance to an object;
- acquire a captured image from an image capturing apparatus that has captured an image of the object;
- and
- estimate a contour position of the object based on a color gradient in the captured image, for a local area where a depth gradient in the depth information is large.
Dependencies are inferred from the claim text.