Information processing apparatus, method therefor, measurement apparatus, and working apparatus for estimating a position/orientation of a three-dimensional object based on relative motion
AssigneeCanon Kabushiki Kaisha
InventorKeisuke Tateno
Life of this patent
Estimating the term…
Abstract
A shape model of an object to be measured is held. An image of the object obtained by a first device is inputted. Range information obtained by a second device is inputted, and the range information indicates surface positions of the object. A first degradation degree of the image caused by relative motion between the object and the first device, and a second degradation degree of the range information caused by relative motion between the object and the second device are estimated. A position and/or orientation of the object is estimated based on the image and/or range information, the shape model, and the first and second degradation degrees.
Claims13
An information processing apparatus comprising:
- a holding unit configured to hold a shape model of an object to be measured;
- one or more processors;
- and
- at least one memory coupled to the one or more processors, the at least one memory having instructions stored thereon which, when executed by the one or more processors cause the information processing apparatus to:
- input an image of the object obtained by a first device,
- input range information obtained by a second device, wherein the range information indicates surface positions of the object,
- estimate a first degree of blur as a result of capturing the image during relative motion between the object and the first device, and a second degree of blur as a result of receiving the range information during relative motion between the object and the second device, and
- estimate a position and/or orientation of the object based on the image and/or range information, the shape model, and the first and second degrees of blur.
An information processing method comprising:
- using a processor to perform steps of:
- holding a shape model of an object to be measured;
- inputting an image of the object obtained by a first device;
- inputting range information obtained by a second device, wherein the range information indicates surface positions of the object;
- estimating a first degree of blur as a result of capturing the image during relative motion between the object and the first device, and a second degree of blur as a result of receiving the range information during relative motion between the object and the second device;
- and
- estimating a position and/or orientation of the object based on the image and/or range information, the shape model, and the first and second degrees of blur.
A non-transitory computer readable medium storing a computer-executable program for causing a computer to perform an information processing method, the method comprising steps of:
- holding a shape model of an object to be measured;
- inputting an image of the object obtained by a first device;
- inputting range information obtained by a second device, wherein the range information indicates surface positions of the object;
- estimating a first degree of blur as a result of capturing the image during relative motion between the object and the first device, and a second degree of blur as a result of receiving the range information during relative motion between the object and the second device;
- and
- estimating a position and/or orientation of the object based on the image and/or range information, the shape model, and the first and second degrees of blur.
Dependencies are inferred from the claim text.