Information processing apparatus, method of controlling information processing apparatus, and storage medium
First Claim
Patent Images
1. An information processing apparatus, comprising:
- one or more processors; and
a memory coupled to the one or more processors, the memory having stored thereon instructions which, when executed by the one or more processors, cause the information processing apparatus to;
obtain a relative position and orientation between a first object and a second object;
specify an occlusion region where the second object occludes the first object, from an image that includes the first object and the second object, based on the relative position and orientation, a first shape model that represents a shape of the first object, and a second shape model that represents a shape of the second object;
select, from the first shape model, model features other than model features that correspond to the specified occlusion region in the image;
calculate the position and orientation of the first object by associating the selected model features with image features in the image; and
determine an assembly state based on the position and orientation of the first object.
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Abstract
An information processing apparatus, comprises an obtainment unit configured to obtain a relative position and orientation between a first object and a second object; an specifying unit configured to specify an occlusion region where the second object occludes the first object, from an image that includes the first object and the second object, based on the relative position and orientation, a first shape model that represents a shape of the first object, and a second shape model that represents a shape of the second object; and a generation unit configured to generate information for obtaining a position and orientation of the first object based on the occlusion region.
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Citations
15 Claims
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1. An information processing apparatus, comprising:
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one or more processors; and a memory coupled to the one or more processors, the memory having stored thereon instructions which, when executed by the one or more processors, cause the information processing apparatus to; obtain a relative position and orientation between a first object and a second object; specify an occlusion region where the second object occludes the first object, from an image that includes the first object and the second object, based on the relative position and orientation, a first shape model that represents a shape of the first object, and a second shape model that represents a shape of the second object; select, from the first shape model, model features other than model features that correspond to the specified occlusion region in the image; calculate the position and orientation of the first object by associating the selected model features with image features in the image; and determine an assembly state based on the position and orientation of the first object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An information processing apparatus comprising:
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one or more processors; and a memory coupled to the one or more processors, the memory having stored thereon instructions which, when executed by the one or more processors, cause the information processing apparatus to; obtain a relative position and orientation between a first object and a second object; specify an occlusion region where the second object occludes the first object, from an image that includes the first object and the second object, based on the relative position and orientation, a first shape model that represents a shape of the first object, and a second shape model that represents a shape of the second object; select image features other than image features included in the specified occlusion region in the image; calculate the position and orientation of the first object by associating the selected image features with model features of the first shape model; and determine an assembly state based on the position and orientation of the first object. - View Dependent Claims (11)
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12. A method of controlling an information processing apparatus, comprising:
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obtaining a relative position and orientation between a first object and a second object; specifying an occlusion region where the second object occludes the first object, from an image that includes the first object and the second object, based on the relative position and orientation, a first shape model that represents a shape of the first object, and a second shape model that represents a shape of the second object; selecting, from the first shape model, model features other than model features that correspond to the specified occlusion region in the image; calculating the position and orientation of the first object by associating the selected model features with image features in the image; and determining an assembly state based on the position and orientation of the first object.
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13. A non-transitory computer-readable storage medium storing a computer program for causing a computer to execute a method comprising:
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obtaining a relative position and orientation between a first object and a second object; specifying an occlusion region where the second object occludes the first object, from an image that includes the first object and the second object, based on the relative position and orientation, a first shape model that represents a shape of the first object, and a second shape model that represents a shape of the second object; selecting, from the first shape model, model features other than model features that correspond to the specified occlusion region in the image; calculating the position and orientation of the first object by associating the selected model features with image features in the image; and determining an assembly state based on the position and orientation of the first object.
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14. A method of controlling an information processing apparatus, comprising:
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obtaining a relative position and orientation between a first object and a second object; specifying an occlusion region where the second object occludes the first object, from an image that includes the first object and the second object, based on the relative position and orientation, a first shape model that represents a shape of the first object, and a second shape model that represents a shape of the second object; selecting image features other than image features included in the specified occlusion region in the image; calculating the position and orientation of the first object by associating the selected image features with model features of the first shape model; and determining an assembly state based on the position and orientation of the first object.
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15. A non-transitory computer-readable storage medium storing a computer program for causing a computer to execute a method comprising:
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obtaining a relative position and orientation between a first object and a second object; specifying an occlusion region where the second object occludes the first object, from an image that includes the first object and the second object, based on the relative position and orientation, a first shape model that represents a shape of the first object, and a second shape model that represents a shape of the second object; selecting image features other than image features included in the specified occlusion region in the image; calculating the position and orientation of the first object by associating the selected image features with model features of the first shape model; and determining an assembly state based on the position and orientation of the first object.
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Specification