Information processing apparatus and information processing method

An information processing method for estimating a position and orientation of a measuring object, the information processing method comprising:

• acquiring a two-dimensional image of the measuring object, wherein the two-dimensional image is captured by an imaging apparatus at a first time;
• acquiring a relative position and orientation between the imaging apparatus and the measuring object;
• updating the relative position and orientation between the imaging apparatus and the measuring object by associating a three-dimensional shape model with the two-dimensional image, based on the acquired relative position and orientation;
• acquiring a position and orientation difference amount of the imaging apparatus between the first time and a second time being different from the first time, wherein the relative position and orientation between the imaging apparatus and the measuring object has been changed between the first time and the second time;
• and
• updating the updated relative position and orientation between the imaging apparatus and the measuring object based on the relative position and orientation difference amount of the imaging apparatus between the first time and the second time.

A non-transitory computer-readable medium storing a program that causes a computer to perform an information processing method for estimating a position and orientation of a measuring object, the information processing method comprising:

• acquiring a two-dimensional image of the measuring object, wherein the two-dimensional image is captured by an imaging apparatus at a first time;
• acquiring a relative position and orientation between the imaging apparatus and the measuring object;
• updating the relative position and orientation between the imaging apparatus and the measuring object by associating a three-dimensional shape model with the two-dimensional image, based on the acquired relative position and orientation;
• acquiring a position and orientation difference amount of the imaging apparatus between the first time and the second time being different from the first time, wherein the relative position and orientation between the imaging apparatus and the measuring object has been changed between the first time and the second time;
• and
• updating the updated relative position and orientation between the imaging apparatus and the measuring object based on the relative position and orientation difference amount of the imaging apparatus between the first time and the second time.

An information processing apparatus configured to estimate a position and orientation of a measuring object, the information processing apparatus comprising at least one processor coupled to at least one memory, the at least one processor being programmed to:

• store data of a three-dimensional shape model of the measuring object;
• input range information of the measuring object, wherein the range information is obtained by a range sensor at a first time;
• input a relative position and orientation between an imaging apparatus and the measuring object;
• update the relative position and orientation between the imaging apparatus and the measuring object by associating the three-dimensional shape model with the range information, based on the input relative position and orientation;
• acquire a position and orientation difference amount of the imaging apparatus between the first time and a second time being different from the first time, wherein the relative position and orientation between the imaging apparatus and the measuring object has been changed between the first time and the second time;
• and
• update the updated relative position and orientation between the imaging apparatus and the measuring object based on the relative position and orientation difference amount of the imaging apparatus between the first time and the second time.

An information processing method for estimating a position and orientation of a measuring object, the information processing method comprising:

• inputting range information of the measuring object, wherein the range information is obtained by a range sensor at a first time;
• inputting a relative position and orientation between an imaging apparatus and the measuring object;
• updating the relative position and orientation between the imaging apparatus and the measuring object by associating a stored three-dimensional shape model of the measuring object with the range information based on the input relative position and orientation;
• acquiring a position and orientation difference amount of the imaging apparatus between the first time and a second time being different from the first time, wherein the relative position and orientation between the imaging apparatus and the measuring object has been changed between the first time and the second time;
• and
• updating the updated relative position and orientation between the imaging apparatus and the measuring object based on the relative position and orientation difference amount of the imaging apparatus between the first time and the second time.

A non-transitory computer-readable medium storing a program that causes a computer to perform an information processing method for estimating a position and orientation of a measuring object, the information processing method comprising:

• inputting range image of the measuring object, wherein the range information is obtained by a range sensor at a first time;
• inputting a relative position and orientation between the imaging apparatus and the measuring object;
• updating the relative position and orientation between the imaging apparatus and the measuring object by associating a stored three-dimensional shape model of the measuring object with the range information based on the input relative position and orientation;
• acquiring a position and orientation difference amount of the imaging apparatus between the first time and a second time being different from the first time, wherein the relative position and orientation between the imaging apparatus and the measuring object has been changed between the first time and the second time;
• and
• updating the updated relative position and orientation between the imaging apparatus and the measuring object based on the relative position and orientation difference amount of the imaging apparatus between the first time and the second time.