Position and orientation measurement device and position and orientation measurement method

A position and orientation measurement method by a position and orientation measurement device that measures position and orientation of an object to be measured, the method comprising:

• a storage step for storing a three-dimensional shape model of the object;
• a two-dimensional image input step for inputting a two-dimensional image representing the object;
• a distance image input step for inputting a distance image sensed by a distance sensor, which indicates a distance from the distance sensor to the object;
• an approximate position and orientation input step for inputting an approximate position and orientation of the object;
• a position and orientation calculation step for calculating, without using the distance image, a first position and orientation of the object by associating the three-dimensional shape model with the two-dimensional image based on the approximate position and orientation of the object and for thereafter calculating a second position and orientation of the object by associating the three-dimensional shape model with both the two-dimensional image of the object and the distance image based on the first position and orientation.

A non-transitory storage medium having instructions that, when executed by a processor, cause the processor to perform operations comprising:

• storing a three-dimensional shape model of the object;
• inputting a two-dimensional image representing of the object;
• inputting a distance image sensed by a distance sensor, which indicates a distance from the distance sensor to the object;
• inputting an approximate position and orientation of the object;
• calculating, without using the distance image, a first position and orientation of the object by associating the three-dimensional shape model with the two-dimensional image based on the approximate position and orientation of the object, and
• calculating a second position and orientation of the object by associating the three-dimensional shape model with both the two-dimensional image and the distance image based on the first position and orientation.