INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING METHOD

• US 20130230235A1
• Filed: 11/15/2011
• Published: 09/05/2013
• Est. Priority Date: 11/19/2010
• Status: Abandoned Application

• Current Assignee: Canon Ayutthaya Limited (Canon Inc.)
• Original Assignee: Canon Ayutthaya Limited (Canon Inc.)
• Inventors: Tateno, Keisuke, Kotake, Daisuke, Uchiyama, Shinji
• Application Number:
  US13/885,965
• Publication Number:
  US 20130230235A1
• Time in Patent Office: Days
• US Class Current: 382/154
• CPC Class Codes: G06T 19/003 Navigation within 3D models or images
• CPC Class Codes: G06T 2207/10004 Still image; Photographic image
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/30108 Industrial image inspection
• CPC Class Codes: G06T 7/75 involving models

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.

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.

2. The information processing apparatus according to claim 1, wherein the model fitting unit collates the three-dimensional model based on a degree of matching or a degree of mismatching between the three-dimensional coordinates of the image feature and the three-dimensional model.

3. The information processing apparatus according to claim 2, wherein the model fitting unit calculates a position and orientation of the object based on a difference between the three-dimensional coordinates of the image feature and the three-dimensional model.

4. The information processing apparatus according to claim 1, wherein the two-dimensional image and the range image are captured from approximately identical viewpoints, and correspondence between the images is known.

5. The information processing apparatus according to claim 1, wherein the image feature three-dimensional information calculation unit calculates at least one or more sets of three-dimensional coordinates of the image feature by referring to the range image for a distance value corresponding to a vicinity of a position where the image feature is detected.

6. The information processing apparatus according to claim 5, wherein the image feature three-dimensional information calculation unit calculates the three-dimensional coordinates of the image feature based on an amount of statistics of a distance value calculated by referring to the range image for one or more distance values corresponding to the vicinity of the position where the image feature is detected.

7. The information processing apparatus according to claim 1, wherein the image feature detection unit detects an edge, a point, or a plane region as the image feature to be detected from the two-dimensional image.

8. The information processing apparatus according to claim 1, further comprising a position and orientation operation unit configured to change a position and orientation of an object to be measured or a measurement apparatus by using a robot having a movable axis based on a calculated position and orientation of the object to be measured, the movable axis being an axis of rotation and/or an axis of parallel movement.

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.