Apparatus, method, and non-transitory computer-readable storage medium for storing program for position and orientation estimation

A method performed by a computer for position and orientation estimation, the method comprising:

• executing, by a processor of the computer, a detection process that includes detecting first point group data representative of an object body in accordance with model data of the object body from three-dimensional point group data indicative of a three-dimensional position,
• executing, by the processor of the computer, a pattern group generation process that includes generating a pattern group which includes a plurality of second point group data respectively representing a plurality of patterns in which a position and an orientation of the model data are respectively changed at a position of the first point group data,
• executing, by the processor of the computer, a conversion process that includes converting the first point group data and the second point group data of the patterns of the pattern group into distance images,
• executing, by the processor of the computer, a collation process that includes comparing the distance image of the first point group data obtained by the conversion process with each of the distance images of the second point group data of the patterns of the pattern group, and
• executing, by the processor of the computer, an estimation process that includes selecting one of the distance images of the second point group data of the patterns in accordance with a result of the collation obtained by the collation process, and estimating the position and the orientation of the object body in accordance with the pattern corresponding to the selected distance image.

A non-transitory computer-readable storage medium for storing a program that causes a processor to execute a position and orientation estimation process, the position and orientation estimation process comprising:

• executing a detection process that includes detecting first point group data representative of an object body in accordance with model data of the object body from three-dimensional point group data indicative of a three-dimensional position,
• executing a pattern group generation process that includes generating a pattern group which includes a plurality of second point group data respectively representing a plurality of patterns in which a position and an orientation of the model data are respectively changed at a position of the first point group data,
• executing a conversion process that includes converting the first point group data and the second point group data of the patterns of the pattern group into distance images,
• executing a collation process that includes comparing the distance image of the first point group data obtained by the conversion process with each of the distance images of the second point group data of the patterns of the pattern group, and
• executing an estimation process that includes selecting one of the distance images of the second point group data of the patterns in accordance with a result of the collation obtained by the collation process, and estimating the position and the orientation of the object body in accordance with the pattern corresponding to the selected distance image.