Model generation apparatus and method

Abstract

To estimate a position and orientation of an image pickup device relative to an object to be observed, a model generation apparatus includes an acquisition unit configured to acquire a depth image representing a distance between a certain point and an object to be observed per pixel with three-dimensional information representing a shape of the object to be observed, a point group generation unit configured to generate three-dimensional point group data representing the shape of the object to be observed based on the depth image, and a model generation unit configured to generate a three-dimensional model representing the shape of the object to be observed as surface information based on the three-dimensional point group data.

Dependencies are inferred from the claim text.