Information processing apparatus and information processing method

An information processing apparatus comprising:

• a calculation unit configured to calculate a position and orientation of at least one target object from a result of measuring a set of target objects by using a sensor;
• a prediction unit configured to predict, based on a result calculated by said calculation unit for a first holding target object among the at least one target object, whether a holding unit of a robot will succeed in holding the first holding target object;
• a selection unit configured to select, when said prediction unit predicts that the holding unit will fail in holding the first holding target object, a second holding target object having a positional relationship with the first holding target object, wherein a holding operation by the holding unit of the second holding target object having the positional relationship with the first holding target object causes changing the position and orientation of the first holding target object;
• and
• a control unit configured to control the robot to hold, by the holding unit, the second holding target object selected by said selection unit.

An information processing method comprising:

• a calculation step of calculating a position and orientation of at least one target object from a result of measuring a set of target objects by using a first sensor;
• a control step of controlling a robot including a holding unit to hold, as a first holding target object, one target object among the at least one target object by the holding unit;
• a determination step of determining whether the holding unit has succeeded in holding the first holding target object, from a result of measurement performed by a second sensor for measuring the first holding target object held by the holding unit;
• and
• a selection step of, when the holding unit has been determined to fail in holding the first holding target object, selecting a second holding target object having a positional relationship with the first holding target object, wherein a holding operation by the holding unit of the second holding target object having the positional relationship with the first holding target object causes changing the position and orientation of the first holding target object,
• wherein in the control step, the robot is controlled to hold, by the holding unit, the second holding target object selected in the selection step.

An information processing method comprising:

• a calculation step of calculating a position and orientation of at least one target object from a result of measuring a set of target objects by using a sensor;
• a prediction step of predicting, based on a result calculated in the calculation step for a first holding target object among the at least one target object, whether a holding unit of a robot will succeed in holding the first holding target object;
• a selection step of, when the holding unit is predicted in the prediction step to fail in holding the first holding target object, selecting a second holding target object having a positional relationship with the first holding target object, wherein a holding operation by the holding unit of the second holding target object having the positional relationship with the first holding target object causes changing the position and orientation of the first holding target object;
• and
• a control step of controlling the robot to hold, by the holding unit, the second holding target object selected in the selection step.