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Device for measuring position and orientation of imaging apparatus and method therefor

  • US 10,643,347 B2
  • Filed: 02/23/2017
  • Issued: 05/05/2020
  • Est. Priority Date: 02/29/2016
  • Status: Active Grant
First Claim
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1. An information processing apparatus configured to store, in advance, pieces of reference data including a captured image, a position and an orientation of an imaging apparatus when the image is captured, three-dimensional information of a feature in a space corresponding to the image, and an attribute of the feature, wherein the captured image, the position and the orientation, the three-dimensional information, and the attribute are associated with each other, the information processing apparatus comprising:

  • one or more processors; and

    a memory storing executable instructions, which when executed by the one or more processors, cause the information processing apparatus to;

    input an image captured by the imaging apparatus;

    derive a position and an orientation of the imaging apparatus capturing the input image on the basis of the pieces of reference data stored and the input image;

    determine whether the input image, as a new piece of reference data, is to be added on the basis of the derived position and orientation and the pieces of reference data;

    decide a feature point that is to be registered into the new piece of reference data in a case where the determination determines that the new piece of reference data is to be added, wherein the feature point that is to be registered is a feature point according to which converted coordinates obtained by converting three-dimensional coordinates of a feature point in a coordinate system of at least one piece of reference data selected based on the derived position and the derived orientation into three-dimensional coordinates in a coordinate system of the input image are included in the input image and according to which the attribute of the feature of a feature point associated with the selected at least one piece of reference data and the attribute of the feature of the feature point in the input image are similar to each other; and

    add the new piece of reference data and update the pieces of reference data.

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