Method and apparatus for measuring position and orientation of an object
AssigneeCanon Kabushiki Kaisha
InventorDaisuke Kotake
Life of this patent
Estimating the term…
Abstract
An information processing method includes acquiring an image of an object captured by an imaging apparatus, acquiring an angle of inclination measured by an inclination sensor mounted on the object or the imaging apparatus, detecting a straight line from the captured image, and calculating a position and orientation of the object or the imaging apparatus, on which the inclination sensor is mounted, based on the angle of inclination, an equation of the detected straight line on the captured image, and an equation of a straight line in a virtual three-dimensional space that corresponds to the detected straight line.
Claims12
An information processing method comprising:
- acquiring an image of an object captured by an imaging apparatus;
- acquiring an angle of inclination measured by an inclination sensor mounted on the object or the imaging apparatus;
- detecting a straight line from the captured image;
- and
- calculating a position and orientation of the object or the imaging apparatus, on which the inclination sensor is mounted, based on the angle of inclination, an equation of the detected straight line on the captured image, and an equation of a straight line in a virtual three-dimensional space that corresponds to the detected straight line.
An information processing method for measuring a position and orientation of an object or an imaging apparatus, the method comprising:
- performing calculation of the position and orientation if predicted values of the position and orientation are not available;
- and
- if the predicted values of the position and orientation are available, calculating the position and the orientation by calculating correction values for the predicted values of the position and orientation based on a feature detected from an image of the object captured by the imaging apparatus.
An information processing apparatus comprising:
- an image input unit configured to input an image of an object captured by an imaging apparatus;
- an angle-of-inclination input unit configured to input an angle of inclination measured by an inclination sensor mounted on the object or the imaging apparatus;
- a straight line detection unit configured to detect a straight line from the captured image;
- and
- a calculation unit configured to calculate a position and orientation of the object or the imaging apparatus, on which the inclination sensor is mounted, based on the angle of inclination, an equation of the detected straight line on the captured image, and an equation of a straight line in a virtual three-dimensional space that corresponds to the detected straight line.
A computer-readable storage medium storing a program for causing a computer to:
- acquire an image of an object captured by an imaging apparatus;
- acquire an angle of inclination measured by an inclination sensor mounted on the object or the imaging apparatus;
- detect a straight line from the captured image;
- and
- calculate a position and orientation of the object or the imaging apparatus, on which the inclination sensor is mounted, based on the angle of inclination, an equation of the detected straight line on the captured image, and an equation of a straight line in a virtual three-dimensional space that corresponds to the detected straight line.
Dependencies are inferred from the claim text.