INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING METHOD
First Claim
1. An information processing apparatus comprising:
- a three-dimensional model storage unit configured to store data of a three-dimensional model that describes a geometric feature of an object;
a two-dimensional image input unit configured to input a two-dimensional image in which the object is imaged;
a range image input unit configured to input a range image in which the object is imaged;
an image feature detection unit configured to detect an image feature from the two-dimensional image input from the two-dimensional image input unit;
an image feature three-dimensional information calculation unit configured to calculate three-dimensional coordinates corresponding to the image feature from the range image input from the range image input unit; and
a model fitting unit configured to fit the three-dimensional model into the three-dimensional coordinates of the image feature,wherein an optical axis of a measurement apparatus of the two-dimensional image coincides with an optical axis of a measurement apparatus of the range image.
1 Assignment
0 Petitions
Accused Products
Abstract
An information processing apparatus according to the present invention includes a three-dimensional model storage unit configured to store data of a three-dimensional model that describes a geometric feature of an object, a two-dimensional image input unit configured to input a two-dimensional image in which the object is imaged, a range image input unit configured to input a range image in which the object is imaged, an image feature detection unit configured to detect an image feature from the two-dimensional image input from the two-dimensional image input unit, an image feature three-dimensional information calculation unit configured to calculate three-dimensional coordinates corresponding to the image feature from the range image input from the range image input unit, and a model fitting unit configured to fit the three-dimensional model into the three-dimensional coordinates of the image feature.
-
Citations
10 Claims
-
1. An information processing apparatus comprising:
-
a three-dimensional model storage unit configured to store data of a three-dimensional model that describes a geometric feature of an object; a two-dimensional image input unit configured to input a two-dimensional image in which the object is imaged; a range image input unit configured to input a range image in which the object is imaged; an image feature detection unit configured to detect an image feature from the two-dimensional image input from the two-dimensional image input unit; an image feature three-dimensional information calculation unit configured to calculate three-dimensional coordinates corresponding to the image feature from the range image input from the range image input unit; and a model fitting unit configured to fit the three-dimensional model into the three-dimensional coordinates of the image feature, wherein an optical axis of a measurement apparatus of the two-dimensional image coincides with an optical axis of a measurement apparatus of the range image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. An information processing method comprising:
-
storing data of a three-dimensional model that describes a geometric feature of an object; inputting a two-dimensional image in which the object is imaged; inputting a range image in which the object is imaged; detecting an image feature from the input two-dimensional image; calculating three-dimensional coordinates corresponding to the image feature from the input range image; and collating the three-dimensional coordinates of e image feature with the three-dimensional model, wherein an optical axis of a measurement apparatus of the two-dimensional image coincides with an optical axis of a measurement apparatus of the range image,
-
-
10. An information processing method comprising:
-
storing data of a three-dimensional model that describes a geometric feature of an object; inputting a two-dimensional image in which the object is imaged; inputting a range image in which the object is imaged; detecting an image feature from the input two-dimensional image; calculating three-dimensional coordinates corresponding to the image feature from the input range image; and calculating a position and orientation of the object so that the three-dimensional model fits into a three-dimensional space, wherein an optical axis of a measurement apparatus of the two-dimensional image coincides with an optical axis of a measurement apparatus of the range image.
-
Specification