Position and orientation calibration method and apparatus
AssigneeCanon Kabushiki Kaisha
InventorsDaisuke Kotake, Shinji Uchiyama
Life of this patent
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Abstract
A position and orientation measuring apparatus calculates a difference between an image feature of a two-dimensional image of an object and a projected image of a three-dimensional model in a stored position and orientation of the object projected on the two-dimensional image. The position and orientation measuring apparatus further calculates a difference between three-dimensional coordinate information and a three-dimensional model in the stored position and orientation of the object. The position and orientation measuring apparatus then converts a dimension of the first difference and/or the second difference to cause the first difference and the second difference to have an equivalent dimension and corrects the stored position and orientation.
Claims12
A position and orientation calibration method for repeatedly correcting a stored position and orientation of an object, the method comprising:
- inputting a two-dimensional image of the object;
- detecting an image feature from the two-dimensional image;
- inputting three-dimensional coordinate information of a surface of the object;
- calculating a first difference between the detected image feature and a projected feature of a projected image acquired when projecting a stored three-dimensional model onto the two-dimensional image based on the stored position and orientation of the object;
- calculating a second difference between a three-dimensional feature of the three-dimensional coordinate information and a model feature of the three-dimensional model in the stored position and orientation;
- converting a dimension of the first difference and/or the second difference to cause the first difference and the second difference to have an equivalent dimension;
- and
- correcting the stored position and orientation based on the first difference and the second difference the dimension of at least one of the first difference and the second difference has been converted.
A position and orientation calibration apparatus for repeatedly correcting a stored position and orientation of an object, the position and orientation measuring apparatus comprising:
- an image input unit configured to input a two-dimensional image of the object;
- a feature detection unit configured to detect an image feature from the two-dimensional image;
- a three-dimensional coordinate information input unit configured to input three-dimensional coordinate information of a surface of the object;
- a two-dimensional image difference calculation unit configured to calculate a first difference between the detected image feature and a projected feature of a projected image acquired when projecting a stored three-dimensional model onto the two-dimensional image based on the stored position and orientation of the object;
- a three-dimensional space difference calculation unit configured to calculate a second difference between a three-dimensional feature of the three-dimensional coordinate information and a model feature of the three-dimensional model in the stored position and orientation;
- an equivalent dimension conversion unit configured to convert a dimension of the first difference and/or the second difference to cause the first difference and the second difference to have an equivalent dimension;
- and
- a position and orientation correction unit configured to correct the stored position and orientation based on the first difference and the second difference the dimension of at least one of the first difference and the second difference has been converted.
Dependencies are inferred from the claim text.