Information processing device and computer program

An information processing device comprising:

• a communication section capable of communicating with an imaging section that captures an image of a target object;
• a template acquisition section that acquires at least one template in which first feature information, 3D locations and a viewpoint are associated with each other, the first feature information including information that represents a plurality of first 2D locations included in a contour obtained from a projection of a 3D model corresponding to the target object onto a virtual plane based on the viewpoint, and the 3D locations corresponding to the respective first 2D locations and being represented in a 3D coordinate system;
• a location-correspondence determination section that identifies second feature information representing edges from the captured image of the target object obtained from the imaging section, and determines correspondences between the first 2D locations and second 2D locations in the captured image based at least on the first feature information and the second feature information;
• and
• a section that derives a position and pose of the target object, using at least (1) the 3D locations that correspond to the respective first 2D locations and (2) the second 2D locations that correspond to the respective first 2D locations.

A computer program for an information processing device, the computer program causing the information processing device to realize functions of:

• (a) communicating with an imaging section that captures an image of a target object;
• (b) acquiring at least one template in which first feature information, 3D locations and a viewpoint are associated with each other, the first feature information including information that represents a plurality of first 2D locations included in a contour obtained from a projection of a 3D model corresponding to the target object onto a virtual plane based on the viewpoint, and the 3D locations corresponding to the respective first 2D locations and being represented in a 3D coordinate system;
• (c) identifying second feature information representing edges from the captured image of the target object obtained from the imaging section;
• (d) determining correspondences between the first 2D locations and second 2D locations in the captured image based at least on the first feature information and the second feature information;
• and
• (e) deriving a position and pose of the target object, using (1) the 3D locations that correspond to the respective first 2D locations and (2) the second 2D locations that correspond to the respective first 2D locations.