# US 2013/0158947 A1 · Information processing apparatus, control method for information processing apparatus and storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2013/0158947 A1 - Document ID: US20130158947A1 - Status: Published application - Kind: A1 - Application number: 13/683,650 - Filed: 2012-11-21 - Published: 2013-06-20 - Earliest claimed: 2011-12-20 - Assignees: Canon Kabushiki Kaisha - Inventors: Masahiro Suzuki - Web page: https://patentgrep.com/patent/US20130158947A1 ## CPC - G01B 11/00: Measuring arrangements characterised by the use of optical techniques - B25J 9/1697: {Vision controlled systems} - B25J 19/023: {including video camera means} - G06F 15/00: Digital computers in general (details G06F1/00 – G06F13/00); Data processing equipment in general - G05B 2219/37555: Camera detects orientation, position workpiece, points of workpiece - G05B 2219/40053: Pick 3-D object from pile of objects - G05B 2219/40564: Recognize shape, contour of object, extract position and orientation - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract An information processing apparatus comprises a first sensor unit configured to obtain, as first information, two-dimensional information or three-dimensional information about a target object; a first measurement unit configured to measure a position and orientation of the target object by analyzing the first information; a second sensor unit mounted on a robot for executing an operation for the target object, and configured to obtain, as second information, two-dimensional information or three-dimensional information about the target object in a position and orientation determined based on a measurement result by the first measurement unit; and a second measurement unit configured to measure the position and orientation of the target object by analyzing the second information. ## Claims ### Claim 1 An information processing apparatus comprising: a first sensor unit configured to obtain, as first information, two-dimensional information or three-dimensional information about a target object; a first measurement unit configured to measure a position and orientation of the target object by analyzing the first information; a second sensor unit mounted on a robot for executing an operation for the target object, and configured to obtain, as second information, two-dimensional information or three-dimensional information about the target object in a position and orientation determined based on a measurement result by said first measurement unit; and a second measurement unit configured to measure the position and orientation of the target object by analyzing the second information. ### Claim 2 (depends on 1) The apparatus according to claim 1, further comprising a determination unit configured to determine, as a position and orientation of said second sensor unit, a position and orientation in which reflected light of projection light projected on the target object when said second sensor unit captures the target object does not enter a capturing range of said second sensor unit, based on the measurement result by said first measurement unit. ### Claim 3 (depends on 1) The apparatus according to claim 1, further comprising a determination unit configured to determine, as a position and orientation of said second sensor unit, a position and orientation in which it is possible to measure a feature portion of the target object, based on the measurement result by said first measurement result. ### Claim 4 (depends on 1) The apparatus according to claim 1, further comprising: a model information holding unit configured to hold model information of the target object, wherein said first measurement unit measures the position and orientation of the target object by matching the first information with the model information. ### Claim 5 (depends on 1) The apparatus according to claim 1, further comprising a model information holding unit configured to hold model information of the target object, wherein said second measurement unit measures the position and orientation of the target object by matching the second information with the model information. ### Claim 6 (depends on 4) The apparatus according to claim 4, wherein the model information indicates three-dimensional geometric model information based on CAD data. ### Claim 7 (depends on 4) The apparatus according to claim 4, wherein the model information includes a plurality of pieces of reference image information obtained by observing the target object or three-dimensional geometric model based on CAD data from a plurality of predetermined viewpoints. ### Claim 8 (depends on 1) The apparatus according to claim 1, wherein if there are a plurality of types of target objects, the position and orientation of said second sensor unit is determined based on the type of the target object. ### Claim 9 (depends on 1) The apparatus according to claim 1, further comprising a robot control unit configured to control an operation of the robot for the target object based on the position and orientation of the target object measured by said second measurement unit. ### Claim 10 (depends on 9) The apparatus according to claim 9, further comprising a storage unit configured to store a measurement result by said second measurement unit or a result of the operation executed by the robot according to the measurement result, wherein the position and orientation of said second sensor unit is determined by excluding a position and orientation in which measurement by said second measurement unit fails and thus a measurement result is not obtained, or a position and orientation in which the operation by the robot fails. ### Claim 11 A control method for an information processing apparatus, comprising the steps of: obtaining, as first information, two-dimensional information or three-dimensional information about a target object; measuring a position and orientation of the target object by analyzing the first information; obtaining, as second information, two-dimensional information or three-dimensional information about the target object in a position and orientation determined based on a measurement result in the measuring; and measuring the position and orientation of the target object by analyzing the second information. ### Claim 12 (depends on 11) A non-transitory computer-readable storage medium storing a computer program for causing a computer to execute each step of a control method for an information processing apparatus according to claim 11.