Information processing apparatus, information processing method, robot system, and non-transitory computer-readable storage medium
AssigneeCanon Kabushiki Kaisha
InventorsFukashi Yamazaki, Daisuke Kotake
Life of this patent
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Abstract
A plurality of verification position/orientation candidates for a target object is set. A common structure model including a geometric feature of a part, among geometric features of a reference model representing a three-dimensional shape of the target object, that is common among the candidates is generated. An image including the target object is obtained. A position/orientation of the target object is estimated by verifying the common structure model and the reference model arranged at the plurality of verification position/orientation candidates, against the image.
Claims20
An information processing apparatus comprising:
- a setting unit configured to set a plurality of verification position/orientation candidates for a target object;
- a generating unit configured to generate a common structure model including a geometric feature of a part, among geometric features of a reference model representing a three-dimensional shape of the target object, that is common among the candidates;
- an obtaining unit configured to obtain an image including the target object;
- and
- an estimating unit configured to estimate a position/orientation of the target object by verifying the common structure model and the reference model arranged at the plurality of verification position/orientation candidates, against the image.
An information processing apparatus comprising:
- a setting unit configured to set a plurality of verification position/orientation candidates for a target object;
- a model obtaining unit configured to obtain a common structure model including a geometric feature of a part, among geometric features of a reference model representing a three-dimensional shape of the target object, that is common among the candidates;
- an image obtaining unit configured to obtain an image including the target object;
- and
- an estimating unit configured estimate a position/orientation of the target object by verifying the common structure model, and the reference model arranged at the plurality of verification position/orientation candidates, against the image.
An information processing method carried out by an information processing apparatus, the method comprising:
- setting a plurality of verification position/orientation candidates for a target object;
- generating a common structure model including a geometric feature of a part, among geometric features of a reference model representing a three-dimensional shape of the target object, that is common among the candidates;
- obtaining an image including the target object;
- and
- estimating a position/orientation of the target object by verifying the common structure model, and the reference model arranged at the plurality of verification position/orientation candidates, against the image.
An information processing method carried out by an information processing apparatus, the method comprising:
- setting a plurality of verification position/orientation candidates for a target object;
- obtaining a common structure model including a geometric feature of a part, among geometric features of a reference model representing a three-dimensional shape of the target object, that is common among the candidates;
- obtaining an image including the target object;
- and
- estimating a position/orientation of the target object by verifying the common structure model, and the reference model arranged at the plurality of verification position/orientation candidates, against the image.
A robot system comprising:
- an image capturing apparatus that captures an image;
- an information processing apparatus including:
- a setting unit configured to set a plurality of verification position/orientation candidates for a target object;
- a generating unit configured to generate a common structure model including a geometric feature of a part, among geometric features of a reference model representing a three-dimensional shape of the target object, that is common among the candidates;
- an obtaining unit configured to obtain an image including the target object;
- and
- an estimating unit configured to estimate a position/orientation of the target object by verifying the common structure model and the reference model arranged at the plurality of verification position/orientation candidates, against the image;
- and
- a robot that grips the target object on the basis of an estimation result of the position/orientation of the target object obtained by the information processing apparatus.
A non-transitory computer-readable storage medium storing a computer program for causing a computer to function as:
- a setting unit configured to set a plurality of verification position/orientation candidates for a target object;
- a generating unit configured to generate a common structure model including a geometric feature of a part, among geometric features of a reference model representing a three-dimensional shape of the target object, that is common among the candidates;
- an obtaining unit configured to obtain an image including the target object;
- and
- an estimating unit configured to estimate a position/orientation of the target object by verifying the common structure model and the reference model arranged at the plurality of verification position/orientation candidates, against the image.
Dependencies are inferred from the claim text.