Position and orientation measurement apparatus, position and orientation measurement method, and storage medium

A position and orientation measurement apparatus comprising:

• an obtaining unit configured to obtain a range image which indicates distance information to a target object, which is captured by an image capturing unit;
• a coarse position/orientation obtaining unit configured to obtain a coarse position and orientation of the target object;
• an error estimation unit configured to estimate a systematic error included in distance information on a region of the range image, where the region corresponds to a predetermined region on the shape model;
• a selection unit configured to select, for each predetermined region on the shape model, sample points from the predetermined region in accordance with the estimated systemic error, so as to reduce the number of sample points as the systematic error is larger;
• an association unit configured to associate the selected sample points and three-dimensional measurement points based on the coarse position and orientation;
• and
• a position/orientation determination unit configured to determine the position and orientation of the target object based on a result of the association unit.

A method comprising the steps of:

• obtaining a range image which indicates distance information to a target object, which is captured in an image capturing process;
• obtaining a coarse position and orientation of the target object;
• estimating a variation degree of distance information on a region of the range image, wherein the region corresponds to a predetermined region on a shape model;
• selecting, for each predetermined region on the shape model, sample points from the predetermined region in accordance with the estimated variation degree, so as to reduce the number of sample points as the variation degree is smaller;
• associating the selected sample points and three-dimensional measurement points based on the coarse position and orientation;
• and
• determining, using a processor, the position and orientation of the target object based on an associated result.

A position and orientation measurement method comprising:

• obtaining a range image which indicates distance information to a target object, which is captured in an image capturing process;
• obtaining a coarse position and orientation of the target object;
• estimating a systematic error included in distance information on a region of the range image, wherein the region corresponds to a predetermined region on the shape model;
• selecting, for each predetermined region on the shape model, sample points from the predetermined region in accordance with the estimated systematic error, so as to reduce the number of sample points as the systematic error is larger;
• associating the selected sample points and three-dimensional measurement points based on the coarse position and orientation;
• and
• determining, using a processor, the position and orientation of the target object based on an associated result.