Information processing apparatus, control method thereof and storage medium
AssigneeCanon Kabushiki Kaisha
InventorMasato Aoba
Life of this patent
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Abstract
An information processing apparatus for performing recognition processing by a recognizer for a position and orientation of a work subject to undergo work by a working unit of a robot arm. The information processing apparatus including an obtaining unit adapted to obtain, for each of a plurality of positions and orientations of the work subject, a position and an orientation of the working unit in which the working unit can perform the work, and a restriction unit adapted to restrict a position and an orientation of the work subject used in the recognition processing by the recognizer to a position and an orientation of the work subject corresponding to the position and the orientation of the working unit that have been obtained by the obtaining unit.
Claims13
An information processing apparatus for generating a recognizer for a position and an orientation of an object to be held by a working unit of a robot arm, the information processing apparatus comprising:
- a first obtaining unit configured to obtain an orientation of the working unit that the working unit can take
- a second obtaining unit configured to obtain a relative orientation between the object and the working unit when the working unit holds the object;
- a restriction unit configured to restrict a position and an orientation of the object based on the obtained orientation of the working unit and the relative orientation between the object and the working unit when the working unit holds the object;
- and
- a generating unit configured to generate a recognizer to be used for recognizing the object based on the restricted orientation of the object.
A method of controlling an information processing apparatus for generating a recognizer for a position and an orientation of an object to be held by a working unit of a robot arm, the method comprising:
- obtaining, using a first obtaining unit, an orientation of the working unit that the working unit can take
- obtaining, using a second obtaining unit, a relative orientation between the object and the working unit when the working unit holds the object;
- restricting, using a restriction unit, a position and an orientation of the object based on the obtained orientation of the working unit and the relative orientation between the object and the working unit when the working unit holds the object;
- and
- generating, with a generating unit, a recognizer to be used for recognizing the object based on the restricted orientation of the object.
Dependencies are inferred from the claim text.