Information processing system, method, and program

A method for information processing, the method comprising:

• causing a first obtaining unit arranged with a first position and orientation to obtain first measurement information about a target object sensed by a first sensor, wherein the first measurement information is two-dimensional information or three-dimensional information about a target object;
• measuring a first three-dimensional position and orientation of the target object based on the first measurement information about the target object;
• determining, based on the first three-dimensional position and orientation of the target object, a second position and orientation of a second sensor which is attached on a movable unit, senses only two-dimensional information, wherein the second sensor is different from the first sensor;
• determining whether the second position and orientation is within a movable range of the movable unit;
• controlling the movable unit so that the position and orientation of the second sensor is the second position and orientation in a case where the movable range determination unit determines that the second position and orientation is within a movable range of the movable unit;
• obtain second measurement information about the target object sensed by the second sensor with the second position and orientation, wherein the second measurement information is two-dimensional information about the target object;
• and
• measuring the three-dimensional position and orientation of the target object based on the information obtained by the second sensor unit with the second position and orientation and the model information about the target object.

A computer-readable storage medium recording a program for causing a computer to execute, the program comprising:

• processing for causing a first obtaining unit arranged with a first position and orientation to obtain first measurement information about a target object sensed by a first sensor, wherein the first measurement information is two-dimensional information or three-dimensional information about a target object;
• first measurement processing for measuring a first three-dimensional position and orientation of the target object based on the first measurement information about the target object;
• sensor position and orientation determination processing for determining, based on the first three-dimensional position and orientation of the target object, a second position and orientation of a second sensor which is attached on a movable unit, senses only two-dimensional information, wherein the second sensor is different from the first sensor;
• movable range determination processing for determining whether the second position and orientation is within a movable range of the movable unit;
• control processing for controlling the movable unit so that the position and orientation of the second sensor is the second position and orientation in a case where the movable range determination unit determines that the second position and orientation is within a movable range of the movable unit;
• second obtaining processing for obtaining second measurement information about the target object sensed by the second sensor with the second position and orientation, wherein the second measurement information is two-dimensional information about the target object;
• and
• second measurement processing for measuring the three-dimensional position and orientation of the target object based on the second measurement information sensed by the second sensor with the second position and orientation .

An information processing system comprising:

• a first sensor;
• a second sensor;
• and
• an information processing apparatus comprising:
• at least one processor;
• and
• a memory for storing instructions to be executed by the at least one processor, wherein when the instructions stored in the memory are executed by the at least one processor, the information processing apparatus functions as:
• a first obtaining unit configured to obtain first measurement information about a target object sensed by the first sensor with a first position and orientation, wherein the first measurement information is two-dimensional information or three-dimensional information about a target object;
• a first measurement unit configured to measure a first three-dimensional position and orientation of the target object based on the first measurement information about the target object;
• a sensor position and orientation determination unit configured to determine, based on the first three-dimensional position and orientation of the target object, a second position and orientation of the second sensor which is attached on a movable unit and senses only two-dimensional information, wherein the second sensor is different from the first sensor;
• a movable range determination unit configured to determine whether the second position and orientation is within a movable range of the movable unit;
• a control unit configured to control the movable unit so that the position and orientation of the second sensor is the second position and orientation in a case where the movable range determination unit determines that the second position and orientation is within a movable range of the movable unit;
• a second obtaining unit configured to obtain second measurement information about the target object sensed by the second sensor with the second position and orientation, wherein the second measurement information is two-dimensional information about the target object;
• and
• a second measurement unit configured to measure three-dimensional position and orientation of the target object based on the second measurement information sensed by the second sensor with the second position and orientation.