Position and orientation measurement apparatus, position and orientation measurement method, and program

A method comprising:

• obtaining, a range image including a target object;
• associating pixels in the range image with sample points obtained from a three-dimensional model of the target object, except for a pixel which does not store a distance value in the range image;
• and
• deriving a position and orientation of the target object based on a result of an association by the association unit.

A non-transitory computer-readable storage medium storing therein a program for controlling a computer to function as respective units of an apparatus, the apparatus comprising:

• an obtaining unit configured to obtain a range image including a target object;
• a holding unit configured to hold sample points obtained from a three-dimensional shape model of the target object;
• an association unit configured to associate pixels in the range image with the sample points except for a pixel which does not store a distance value in the range image;
• and
• a derivation unit configured to derivate a position and orientation of the target object based on a result of an association by the association unit.

An apparatus comprising:

• an obtaining unit configured to obtain a range image including a target object;
• a holding unit configured to hold sample points obtained from a three-dimensional shape model of the target object;
• an association unit configured to associate pixels in the range image with the sample points except for a pixel which is not associated with a distance value in the range image;
• and
• a derivation unit configured to derive a position and orientation of the target object based on a result of an association by the association unit.

A method comprising:

• obtaining, a range image including a target object;
• associating pixels in the range image with sample points obtained from a three-dimensional model of the target object, except for a pixel which is not associated with a distance value in the range image;
• and
• deriving a position and orientation of the target object based on a result of an association by the association unit.

A non-transitory computer-readable storage medium storing therein a program for controlling a computer to function as respective units of an apparatus, the apparatus comprising:

• an obtaining unit configured to obtain a range image including a target object;
• a holding unit configured to hold sample points obtained from a three-dimensional shape model of the target object;
• an association unit configured to associate pixels in the range image with the sample points except for a pixel which is not associated with a distance value in the range image;
• and
• a derivation unit configured to derivate a position and orientation of the target object based on a result of an association by the association unit.