Information processing apparatus, information processing method, and storage medium
AssigneeCanon Kabushiki Kaisha
InventorNaoki Umemura
Life of this patent
Estimating the term…
Abstract
The information processing apparatus generates three-dimensional shape data representing a three-dimensional shape of a first object by using a plurality of images obtained by a plurality of imaging apparatuses capturing the first object. The information processing apparatus estimates a size of the first object by using the three-dimensional shape data. The information processing apparatus specifies a position of a second object that is captured by the plurality of imaging apparatuses based on results of a comparison between the estimated size of the first object and a predetermined reference value.
Claims17
An information processing apparatus comprising:
- one or more memories storing instructions;
- and
- one or more processors executing the instructions to:
- generate three-dimensional shape data representing each three-dimensional shape of objects by using a plurality of images obtained by a plurality of imaging apparatuses capturing the objects, wherein the three-dimensional shape data is data represented by voxels and peripheral voxels are regarded as being part of one object;
- estimate each size of the objects based on the three-dimensional shape data based on positions of the voxels;
- compare each estimated size of particular objects included in the objects obtained by the estimating with a reference value based on a predetermined size of a predetermined object;
- specify the three-dimensional shape of the particular object whose estimated size is smaller than the reference value as the three-dimensional shape of the predetermined object;
- specify a position of the specified three-dimensional shape of the predetermined object included in particular objects among the objects that is captured by the plurality of imaging apparatuses;
- and
- specify a contact between the particular object and the predetermined object based on the specified position of the predetermined object.
An information processing method comprising:
- generating three-dimensional shape data representing each three-dimensional shape of objects by using a plurality of images obtained by a plurality of imaging apparatuses capturing the objects, wherein the three-dimensional shape data is data represented by voxels and peripheral voxels are regarded as being part of one object;
- estimating each size of the objects based on the three-dimensional shape data based on positions of the voxels;
- comparing each estimated size of particular objects included in the objects obtained by the estimating with a reference value based on a predetermined size of a predetermined object;
- specifying the three-dimensional shape of the particular object whose estimated size is smaller than the reference value as the three-dimensional shape of the predetermined object;
- specifying a position of the specified three-dimensional shape of the predetermined object included in particular objects among the objects that is captured by the plurality of imaging apparatuses;
- and
- specifying a contact between the particular object and the predetermined object based on the specified position of the predetermined object.
A non-transitory computer readable storage medium storing a program for causing a computer to perform an information processing method comprising:
- generating three-dimensional shape data representing each three-dimensional shape of objects by using a plurality of images obtained by a plurality of imaging apparatuses capturing the objects, wherein the three-dimensional shape data is data represented by voxels and peripheral voxels are regarded as being part of one object;
- estimating each size of the objects based on the three-dimensional shape data based on positions of the voxels;
- comparing each estimated size of particular objects included in the objects obtained by the estimating with a reference value based on a predetermined size of a predetermined object;
- specifying the three-dimensional shape of the particular object whose estimated size is smaller than the reference value as the three-dimensional shape of the predetermined object;
- specifying a position of the specified three-dimensional shape of the predetermined object included in particular objects among the objects that is captured by the plurality of imaging apparatuses;
- and
- specifying a contact between the particular object and the predetermined object based on the specified position of the predetermined object.
Dependencies are inferred from the claim text.