Information processing apparatus and method thereof

An information processing apparatus comprising:

• a first obtaining unit configured to obtain a two-dimensional image obtained by capturing a scene including an object;
• a second obtaining unit configured to obtain parameters indicating a capturing position and capturing orientation of the two-dimensional image;
• a third obtaining unit configured to obtain a three-dimensional shape model representing a three-dimensional shape of the object;
• a first extraction unit configured to extract three-dimensional geometrical features of the object from the three-dimensional shape model;
• a second extraction unit configured to extract, from the two-dimensional image, two-dimensional geometrical features corresponding to the three-dimensional geometrical features;
• a calculation unit configured to calculate, from the three-dimensional shape model, three-dimensional information with respect to a surface of the object close to each of the three-dimensional geometrical features;
• and
• a correction unit configured to correct three-dimensional information of the three-dimensional geometrical features based on the two-dimensional geometrical features, the parameters, and the calculated three-dimensional information,
• wherein at least one of the first obtaining unit, the second obtaining unit, the third obtaining unit, the first extraction unit, the second extraction unit, the calculation unit, or the correction unit is implemented using a processor.

An information processing method comprising:

• using a processor to perform:
• obtaining a two-dimensional image obtained by capturing a scene including an object;
• obtaining parameters indicating capturing position and capturing orientation of the two-dimensional image;
• obtaining a three-dimensional shape model representing a three-dimensional shape of the object;
• extracting two-dimensional geometrical features of the object from the two-dimensional image;
• calculating, from the three-dimensional shape model, three-dimensional information with respect to a surface of the object close to each of the two-dimensional geometrical features;
• and
• calculating three-dimensional geometrical features in the three-dimensional shape model, corresponding to the two-dimensional geometrical features based on the two-dimensional geometrical features, the parameters, and the calculated three-dimensional information.

A non-transitory computer readable medium storing a computer-executable program for causing a computer to execute an information processing method, the method comprising:

• obtaining a two-dimensional image obtained by capturing a scene including an object;
• obtaining parameters indicating capturing position and capturing orientation of the two-dimensional image;
• obtaining a three-dimensional shape model representing a three-dimensional shape of the object;
• extracting two-dimensional geometrical features of the object from the two-dimensional image;
• calculating, from the three-dimensional shape model, three-dimensional information with respect to a surface of the object close to each of the two-dimensional geometrical features;
• and
• calculating three-dimensional geometrical features in the three-dimensional shape model, corresponding to the two-dimensional geometrical features based on the two-dimensional geometrical features, the parameters, and the calculated three-dimensional information.

An information processing method comprising:

• using a processor to perform:
• obtaining a two-dimensional image obtained by capturing a scene including an object;
• obtaining parameters indicating capturing position and capturing orientation of the two-dimensional image;
• obtaining a three-dimensional shape model representing a three-dimensional shape of the object;
• extracting three-dimensional geometrical features of the object from the three-dimensional shape model;
• extracting, from the two-dimensional image, two-dimensional geometrical features corresponding to the three-dimensional geometrical features;
• calculating, from the three-dimensional shape model, three-dimensional information with respect to a surface of the object close to each of the three-dimensional geometrical features;
• and
• correcting three-dimensional information of the three-dimensional geometrical features based on the two-dimensional geometrical features, the parameters, and the calculated three-dimensional information.

A non-transitory computer readable medium storing a computer-executable program for causing a computer to execute an information processing method, the method comprising:

• obtaining a two-dimensional image obtained by capturing a scene including an object;
• obtaining parameters indicating capturing position and capturing orientation of the two-dimensional image;
• obtaining a three-dimensional shape model representing a three-dimensional shape of the object;
• extracting three-dimensional geometrical features of the object from the three-dimensional shape model;
• extracting, from the two-dimensional image, two-dimensional geometrical features corresponding to the three-dimensional geometrical features;
• calculating, from the three-dimensional shape model, three-dimensional information with respect to a surface of the object close to each of the three-dimensional geometrical features;
• and
• correcting three-dimensional information of the three-dimensional geometrical features based on the two-dimensional geometrical features, the parameters, and the calculated three-dimensional information.