Position and orientation measuring apparatus, information processing apparatus and information processing method

• US 10,684,116 B2
• Filed: 07/07/2017
• Issued: 06/16/2020
• Est. Priority Date: 02/07/2013
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Hirota, Yuichiro, Tateno, Keisuke
• Primary Examiner(s): Shah, Utpal D
• Application Number:
  US15/644,546
• Publication Number:
  US 20170307354A1
• Time in Patent Office: 1,075 Days
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01B 11/2513 with several lines being projected in more than one direction, e.g. grids, patterns
• CPC Class Codes: G01S 5/163 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49
• CPC Class Codes: G06T 2207/20016 Hierarchical, coarse-to-fine, multiscale or multiresolution image processing; Pyramid transform
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06T 7/75 involving models
• CPC Class Codes: G06V 20/64 Three-dimensional objects
• CPC Class Codes: G06V 20/647 by matching two-dimensional images to three-dimensional objects

Abstract

There is provided a position and orientation measurement apparatus, information processing apparatus, and an information processing method, capable of performing robust measurement of a position and orientation. In order to achieve the apparatuses and method, at least one coarse position and orientation of a target object is acquired from an image including the target object, at least one candidate position and orientation is newly generated as an initial value used for deriving a position and orientation of the target object based on the acquired coarse position and orientation, and the position and orientation of the target object in the image is derived by using model information of the target object and by performing at least once of fitting processing of the candidate position and orientation generated as the initial value with the target object in the image.

Claims

1. A position and orientation measurement 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 apparatus to;

acquire, from an image including a target object, a plurality of coarse positions and orientations of the target object;

determine a resolution of the plurality of coarse positions and orientations of the target object;

generate, based on the resolution of the plurality of coarse positions and orientations, a predetermined number of initial candidate positions and orientations including at least one set of position and orientation which is different from any of the acquired coarse positions and orientations; and

derive the position and orientation of the target object in the image by associating model information of the target object with respective positions and orientations of the predetermined number of generated initial candidate positions and orientations.

2. The position and orientation measurement apparatus according to claim 1, wherein the plurality of coarse positions and orientations of the target object in the image are acquired by performing pattern matching with respect to the image.

3. The position and orientation measurement apparatus according to claim 2, wherein the pattern matching is performed by searching the image by using model information of the target object.

4. The position and orientation measurement apparatus according to claim 1, wherein in generating the predetermined number of initial candidate positions and orientations, at least one initial candidate position and orientation is generated based on the resolution of the plurality of coarse positions and orientations, texture information of the target object, and the image.

5. The position and orientation measurement apparatus according to claim 1, wherein in generating the predetermined number of initial candidate positions and orientations, at least one initial candidate position and orientation is generated based on the acquired coarse position and orientation and shape information of the target object.

6. The position and orientation measurement apparatus according to claim 1, wherein in generating the predetermined number of initial candidate positions and orientations, at least one initial candidate position and orientation is generated based on the resolution of position and orientation, shape information of the target object, and the image.

7. The position and orientation measurement apparatus according to claim 1, wherein in generating the predetermined number of initial candidate positions and orientations, the predetermined number of initial candidate positions and orientations are selected from generated candidate positions and orientations.

8. The position and orientation measurement apparatus according to claim 7, wherein the predetermined number of initial candidate positions and orientations are selected based on a shift amount which is generated when associating the model information with the target object in the image.

9. The position and orientation measurement apparatus according to claim 1, wherein in deriving the position and orientation of the target object, the position and orientation of the target object in the image is derived by extracting an edge from the generated initial candidate position and orientation and comparing the extracted edge and an edge extracted from shape information of the target object.

10. An information processing method for measuring a position and orientation of a target object, the information processing method comprising:

acquiring, from an image including a target object, a plurality of coarse positions and orientations of the target object;

determining a resolution of the plurality of coarse positions and orientations of the target object;

generating, based on the resolution of the plurality of coarse positions and orientations, a predetermined number of initial candidate positions and orientations including at least one set of position and orientation which is different from any of the acquired coarse positions and orientations; and

deriving the position and orientation of the target object in the image by associating model information of the target object with respective positions and orientations of the predetermined number of generated initial candidate positions and orientations.

11. A non-transitory computer-readable storage medium storing a computer-executable program for causing a computer to execute a position and orientation measurement method comprising:

acquiring, from an image including a target object, a plurality of coarse positions and orientations of the target object;

determining a resolution of the plurality of coarse positions and orientations of the target object;

generating, based on the resolution of the plurality of coarse positions and orientations, a predetermined number of initial candidate positions and orientations including at least one set of position and orientation which is different from any of the acquired coarse positions and orientations; and

deriving the position and orientation of the target object in the image by associating model information of the target object with respective positions and orientations of the predetermined number of generated initial candidate positions and orientations.