Information processing apparatus, information processing method, and program
First Claim
1. An information processing apparatus comprising:
- a model acquiring unit configured to acquire a three-dimensional shape model of a target object;
a display control unit configured to cause a display unit to display the three-dimensional shape model;
a setting unit configured to set a first orientation of the three-dimensional shape model of the target object and a second orientation of the three-dimensional shape model of the target object that is different from the first orientation on the basis of the three-dimensional shape model displayed in the display unit;
a storage unit configured to store a transformation parameter that transforms the first orientation into the second orientation; and
a unit configured to calculate a first position and orientation of the target object by associating the three-dimensional shape model with an imaged target object,to transform the associated three-dimensional shape model using the transformation parameter, andto calculate a second position and orientation of the target object by associating the transformed three-dimensional shape model with the imaged target object,to determine the position and orientation of the target object based on the first position and orientation and second position and orientation of the target object.
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Accused Products
Abstract
A technique is provided, with which, even for an object which has a shape prone to be erroneously recognized and for which it is difficult to generate an initial value expected to produce a true value through fitting, it is possible to generate an appropriate initial value candidate through intuitive input and reduce erroneous recognition.
An information processing apparatus includes a model acquiring unit configured to acquire a three-dimensional shape model of a target object, a display control unit configured to cause a display unit to display the three-dimensional shape model, a setting unit configured to set first and second orientations different from each other on the basis of the three-dimensional shape model displayed in the display unit, a parameter deriving unit configured to derive a transformation parameter that transforms the first orientation into the second orientation, and a storage unit configured to store the transformation parameter.
26 Citations
14 Claims
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1. An information processing apparatus comprising:
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a model acquiring unit configured to acquire a three-dimensional shape model of a target object; a display control unit configured to cause a display unit to display the three-dimensional shape model; a setting unit configured to set a first orientation of the three-dimensional shape model of the target object and a second orientation of the three-dimensional shape model of the target object that is different from the first orientation on the basis of the three-dimensional shape model displayed in the display unit; a storage unit configured to store a transformation parameter that transforms the first orientation into the second orientation; and a unit configured to calculate a first position and orientation of the target object by associating the three-dimensional shape model with an imaged target object, to transform the associated three-dimensional shape model using the transformation parameter, and to calculate a second position and orientation of the target object by associating the transformed three-dimensional shape model with the imaged target object, to determine the position and orientation of the target object based on the first position and orientation and second position and orientation of the target object. - View Dependent Claims (2, 3, 4, 6, 7, 8, 9, 10, 11, 12)
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5. An information processing apparatus comprising:
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a model acquiring unit configured to acquire a three-dimensional shape model of a target object; a display control unit configured to cause a display unit to display the three-dimensional shape model; a setting unit configured to set a first orientation of the three-dimensional shape model of the target object and a second orientation of the three-dimensional shape model of the target object that is different from the first orientation on the basis of the three-dimensional shape model displayed in the display unit; and a storage unit configured to store a transformation parameter that transforms the first orientation into the second orientation, wherein the second orientation is obtained by rotating the first orientation 180 degrees about a predetermined axis.
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13. An information processing method comprising:
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a model acquiring step of acquiring a three-dimensional shape model of a target object; a display control step of causing a display unit to display the three-dimensional shape model; a setting step of setting a first orientation of the three-dimensional shape model of the target object and a second orientation of the three-dimensional shape model of the target object that is different from the first orientation on the basis of the three-dimensional shape model displayed in the display unit; and a storing step of storing a transformation parameter that transforms the first orientation into the second orientation; and a calculating step of calculating a first position and orientation of the target object by associating the three-dimensional shape model with an imaged target object, to transform the associated three-dimensional shape model using the transformation parameter, and to calculate a second position and orientation of the target object by associating the transformed three-dimensional shape model with the imaged target object, to determine the position and orientation of the target object based on the first position and orientation and second position and orientation of the target object.
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14. A non-transitory computer readable storage medium having stored therein a program executed by a computer and causing the computer to function as:
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a model acquiring unit configured to acquire a three-dimensional shape model of a target object; a display control unit configured to cause a display unit to display the three-dimensional shape model; a setting unit configured to set a first orientation of the three-dimensional shape model of the target object and a second orientation of the three-dimensional shape model of the target object that is different from the first orientation on the basis of the three-dimensional shape model displayed in the display unit; a storage unit configured to store a transformation parameter that transforms the first orientation into the second orientation; and a unit configured to calculate a first position and orientation of the target object by associating the three-dimensional shape model with an imaged target object, to transform the associated three-dimensional shape model using the transformation parameter, and to calculate a second position and orientation of the target object by associating the transformed three-dimensional shape model with the imaged target object, to determine the position and orientation of the target object based on the first position and orientation and second position and orientation of the target object.
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Specification