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Information processing apparatus, information processing method, and program

  • US 10,325,336 B2
  • Filed: 11/09/2015
  • Issued: 06/18/2019
  • Est. Priority Date: 11/28/2014
  • Status: Active Grant
First Claim
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1. An information processing apparatus for determining a position and orientation of an image capturing apparatus that captures an image of an object, comprising:

  • one or more processors; and

    one or more memory devices, the one or more memory devices storing a 3D shape model representing a 3D shape of the object, the one or more memory devices storing executable instructions, which when executed by the one or more processors, cause the information processing apparatus to perform operations comprising;

    generating candidates of the position and orientation of the image capturing apparatus relative to the object;

    evaluating the candidates of the position and orientation of the image capturing apparatus relative to the object on the basis of a result of matching between virtually generated data of the object with the image capturing apparatus placed in the position and orientation generated by the generating and the 3D shape model;

    deriving the position and orientation of the object from the result of matching,wherein the evaluating evaluates the candidates of the position and orientation of the image capturing apparatus relative to the object by evaluating the derived position and orientation,wherein the deriving derives a plurality of positions and orientations of the object by generating, in the vicinity of the position and orientation generated by the generating, a plurality of positions and orientations that differ from the position and orientation and matching a feature in the virtually generated data of the object observed from the originally generated position and orientation with a feature of the 3D shape model placed at each position and orientation generated in the vicinity of the position and orientation; and

    determining the position and orientation of the image capturing apparatus relative to the object on the basis of the result of evaluation performed by the evaluating.

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