Information processing apparatus, information processing method, and recording medium

• US 10,363,664 B2
• Filed: 11/23/2016
• Issued: 07/30/2019
• Est. Priority Date: 11/30/2015
• Status: Expired due to Fees

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Yoshii, Hiroto
• Primary Examiner(s): Goradia, Shefali D
• Application Number:
  US15/360,812
• Publication Number:
  US 20170154430A1
• Time in Patent Office: 979 Days
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/40053 Pick 3-D object from pile of objects
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/30164 Workpiece; Machine component
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 20/10 Terrestrial scenes scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59

Abstract

An information processing apparatus acquires an image of multiple objects, acquires positions and orientations of the objects based on the image, and decides the holding order of the objects based on the positions and orientations and a direction that is set.

Claims

1. An information processing apparatus for controlling a robot which holds and moves an object, the apparatus comprising:

a processor,

wherein the processor acquires, from a measurement apparatus, a three-dimensional coordinate of a plurality of objects measured in distance by the measurement apparatus,

acquires a position in an oblique direction inclining with respect to a measuring direction of a distance from the measurement apparatus to the object for the three-dimensional coordinate of the plurality of objects, and

determines an order to hold the plurality of objects by the robot based on the position in the oblique direction and outputs an information representing the order, and

wherein one of the axes of the three-dimensional coordinate is a measuring direction of the distance from the measurement apparatus to an object.

2. The information processing apparatus according to claim 1,

wherein the processor determines the order in an order of position higher in the oblique direction.

3. The information processing apparatus according to claim 1, wherein the processor

acquires an image of the plurality of objects measured in distance by the measurement apparatus,

acquires the three-dimensional coordinate of each point of the plurality of objects from the image,

sets a region including a three-dimensional coordinate positioning at an end portion in the oblique direction among each point of the three-dimensional coordinate in the image as a recognition region, and

acquires a position and posture of the plurality of objects in the recognition region.

4. The information processing apparatus according to claim 1, wherein the processor determines whether holding of the plurality of objects determined in the order with a holding unit is available or not based on the oblique direction and an orientation of the holding unit in a state in which the holding unit holds the object.

5. The information processing apparatus according to claim 4,

wherein the processor performs the determination based on inner product of the oblique direction and the orientation of the holding unit.

6. The information processing apparatus according to claim 4,

wherein the processor calculates a degree of overlap between objects when viewed from the oblique direction and determines whether holding of the plurality of objects determined in the order with a holding unit is available or not based on the degree of overlap.

7. The information processing apparatus according to claim 1,

wherein the processor sets the oblique direction.

8. The information processing apparatus according to claim 7,

wherein the processor sets the oblique direction in accordance with a user'"'"'s operation.

9. The information processing apparatus according to claim 7,

wherein the processor sets the oblique direction based on a position instructed by a holding unit that holds an object.

10. The information processing apparatus according to claim 7,

wherein the processor

acquires a three-dimensional coordinate of each point of the plurality of objects measured in distance by the measurement apparatus,

determines a plane based on the three-dimensional coordinated of each point, and sets the oblique direction based on the plane being determined.

11. The information processing apparatus according to claim 1, wherein the processor

acquires a three-dimensional coordinate of each point of a plurality of objects measured in distance by the measurement apparatus,

acquires a position in an oblique direction with respect to each point of the three-dimensional coordinate, and

determines the order based on the position of each point in an oblique direction.

12. An information processing method performed by an information processing apparatus and performed for controlling a robot which holds and moves an object, the method comprising:

acquiring, from a measurement apparatus, a three-dimensional coordinate of a plurality of objects measured in distance by the measurement apparatus,

acquiring a position in an oblique direction inclining with respect to a measuring direction of a distance from the measurement apparatus to the object for the three-dimensional coordinate of the plurality of objects,

acquiring a three-dimensional coordinate of a plurality of position in an oblique direction inclining with respect to a measuring direction of a distance between the measurement apparatus and the object for each three-dimensional coordinate of the plurality of objects,

determining an order to hold the plurality of objects by the robot and outputs an information representing the order based on the position in the oblique direction,

wherein one of the axes of the three-dimensional coordinate is a measuring direction of the distance from the measurement apparatus to an object.

13. A non-transitory computer-readable storage medium storing a computer program that causes a computer to perform an information processing method for controlling a robot which holds and moves an object, the method comprising:

acquiring, from a measurement apparatus, a three-dimensional coordinate of a plurality of objects measured in distance by the measurement apparatus,

acquiring a position in an oblique direction inclining with respect to a measuring direction of a distance from the measurement apparatus to the object for the three-dimensional coordinate of the plurality of objects,

determining an order to hold the plurality of objects by the robot and outputs an information representing the order based on the position in the oblique direction,

wherein one of the axes of the three-dimensional coordinate is a measuring direction of the distance from the measurement apparatus to an object.

14. A measurement apparatus, comprising:

a measurement unit configured to measure a distance between the measurement apparatus and an object, and

a processor,

wherein the processor

acquires, from the measurement unit, a three-dimensional coordinate of a plurality of objects measured in distance by the measurement apparatus,

acquires a position in an oblique direction inclining with respect to a measuring direction of a distance from the measurement unit to the object for the three-dimensional coordinate of the plurality of objects, and

determines an order to hold the plurality of objects by a robot and outputs an information representing the order based on the position in the oblique direction, and

wherein one of the axes of the three-dimensional coordinate is a measuring direction of the distance from the measurement apparatus to an object.

15. A method, comprising steps of:

measuring a distance from a measurement apparatus to a plurality of objects by using the measurement apparatus;

acquiring a three-dimensional coordinate of a plurality of objects measured in distance by the measurement apparatus;

acquiring a position in an oblique direction inclining with respect to a measuring direction of a distance from the measurement apparatus to the object for the three-dimensional coordinate of the plurality of objects;

creating a list arranged with a plurality of objects in an order of measuring a distance by the measurement apparatus based on the position in the oblique direction; and

holding each of the plurality of objects by a robot based on the list,

wherein one of the axes of the three-dimensional coordinate is a measuring direction of the distance from the measurement apparatus to an object.