Device and process for three-dimensional localization and pose estimation using stereo image, and computer-readable storage medium storing the program thereof

A process for measuring three-dimensional localization and pose, comprising the steps of:

• 1) obtaining three or more items of image data by capturing images of an object by imaging units at different viewpoints;
• 2) finding a three-dimensional reconstruction point set and a feature set for each of multiple pairs of two different images selected from the three or more items of image data;
• 3) calculating a total three-dimensional reconstruction point set and a total feature set by totaling the three-dimensional reconstruction point sets and the feature sets of the multiple pairs;
• 4) matching a model feature set regarding model data of the object with the total feature set, thereby determining, among the total three-dimensional reconstruction point set, points corresponding to model points of the object;
• wherein:
• the three-dimensional reconstruction point set contains three-dimensional position information of segments obtained by dividing a boundary of the object in the image data;
• and
• the feature set contains three-dimensional information regarding vertices of the segments.

A computer-readable storage medium storing a program for causing a computer to execute the functions of:

• 1) obtaining three or more items of image data by capturing images of an object by imaging units at different viewpoints;
• 2) finding a three-dimensional reconstruction point set and a feature set for each of multiple pairs of two different images selected from the three or more items of image data;
• 3) calculating a total three-dimensional reconstruction point set and a total feature set by totaling the three-dimensional reconstruction point sets and the feature sets of the multiple pairs;
• 4) matching a model feature set regarding model data of the object with the total feature set, thereby determining, among the total three-dimensional reconstruction point set, points corresponding to model points of the object;
• wherein:
• the three-dimensional reconstruction point set contains three-dimensional position information of segments obtained by dividing a boundary of the object in the image data;
• and
• the feature set contains three-dimensional information regarding vertices of the segments.