Information processing apparatus, method therefor, measurement apparatus, and working apparatus
AssigneeCanon Kabushiki Kaisha
InventorKeisuke Tateno
Life of this patent
Estimating the term…
Abstract
A shape model of an object to be measured is held. An image of the object obtained by a first device is inputted. Range information obtained by a second device is inputted, and the range information indicates surface positions of the object. A first degradation degree of the image caused by relative motion between the object and the first device, and a second degradation degree of the range information caused by relative motion between the object and the second device are estimated. A position and/or orientation of the object is estimated based on the image and/or range information, the shape model, and the first and second degradation degrees.
Claims13
An information processing apparatus comprising:
- a holding unit configured to hold a shape model of an object to be measured;
- a first input unit configured to input an image of the object obtained by a first device;
- a second input unit configured to input range information obtained by a second device, wherein the range information indicates surface positions of the object;
- a first estimation unit configured to estimate a first degradation degree of the image caused by relative motion between the object and the first device, and a second degradation degree of the range information caused by relative motion between the object and the second device;
- and
- a second estimation unit configured to estimate a position and/or orientation of the object based on the image and/or range information, the shape model, and the first and second degradation degrees.
An information processing method comprising:
- using a processor to perform steps of:
- holding a shape model of an object to be measured;
- inputting an image of the object obtained by a first device;
- inputting range information obtained by a second device, wherein the range information indicates surface positions of the object;
- estimating a first degradation degree of the image caused by relative motion between the object and the first device, and a second degradation degree of the range information caused by relative motion between the object and the second device;
- and
- estimating a position and/or orientation of the object based on the image and/or range information, the shape model, and the first and second degradation degrees.
A non-transitory computer readable medium storing a computer-executable program for causing a computer to perform an information processing method, the method comprising steps of:
- holding a shape model of an object to be measured;
- inputting an image of the object obtained by a first device;
- inputting range information obtained by a second device, wherein the range information indicates surface positions of the object;
- estimating a first degradation degree of the image caused by relative motion between the object and the first device, and a second degradation degree of the range information caused by relative motion between the object and the second device;
- and
- estimating a position and/or orientation of the object based on the image and/or range information, the shape model, and the first and second degradation degrees.
Dependencies are inferred from the claim text.