INFORMATION PROCESSING APPARATUS AND METHOD
First Claim
1. An information processing apparatus comprising:
- a model storing unit configured to store a three-dimensional form model for acquiring the position and posture of a measurement target object by position and posture matching with the measurement target object;
an image acquiring unit configured to acquire an image of the measurement target object;
a first position and posture acquiring unit configured to acquire a first position and posture of the three-dimensional form model in a first coordinate system on the basis of a first geometric feature of the three-dimensional form model and a first geometric feature within the image; and
a second position and posture acquiring unit configured to acquire a second position and posture of the three-dimensional form model in a second coordinate system that has a coordinate axis and is different from the first coordinate system on the basis of a second geometric feature of the three-dimensional form model and a second geometric feature within the image and the first position and posture.
1 Assignment
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Accused Products
Abstract
An information processing apparatus includes a model storing unit configured to store a three-dimensional form model for acquiring the position and posture of a measurement target object, an image acquiring unit configured to acquire an image of the measurement target object, a first position and posture acquiring unit configured to acquire a first position and posture of the three-dimensional form model in a first coordinate system on the basis of a first geometric feature of the three-dimensional form model and a first geometric feature within the image, and a second position and posture acquiring unit configured to acquire a second position and posture of the three-dimensional form model in a second coordinate system that is different from the first coordinate system on the basis of a second geometric feature of the three-dimensional form model and a second geometric feature within the image and the first position and posture.
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Citations
18 Claims
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1. An information processing apparatus comprising:
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a model storing unit configured to store a three-dimensional form model for acquiring the position and posture of a measurement target object by position and posture matching with the measurement target object; an image acquiring unit configured to acquire an image of the measurement target object; a first position and posture acquiring unit configured to acquire a first position and posture of the three-dimensional form model in a first coordinate system on the basis of a first geometric feature of the three-dimensional form model and a first geometric feature within the image; and a second position and posture acquiring unit configured to acquire a second position and posture of the three-dimensional form model in a second coordinate system that has a coordinate axis and is different from the first coordinate system on the basis of a second geometric feature of the three-dimensional form model and a second geometric feature within the image and the first position and posture. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 13, 14, 15, 16, 17, 18)
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10. An information processing apparatus comprising:
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an image capturing unit configured to capture an image of a measurement target object, a model storing unit configured to store a three-dimensional form model for acquiring the position and posture of a measurement target object by position and posture matching with the measurement target object; an image acquiring unit configured to acquire an image of the measurement target object captured by the image capturing unit; a first position and posture acquiring unit configured to acquire a first position and posture of the three-dimensional form model in a first coordinate system on the basis of a first geometric feature of the three-dimensional form model and a first geometric feature within the image; and a second position and posture acquiring unit configured to acquire a second position and posture of the three-dimensional form model in a second coordinate system that has a coordinate axis and is different from the first coordinate system on the basis of a second geometric feature of the three-dimensional form model and a second geometric feature within the image and the first position and posture.
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11. An information processing method comprising:
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a model storing step of, by a model storing unit, storing a three-dimensional form model for acquiring the position and posture of a measurement target object by position and posture matching with the measurement target object; an image acquiring step of, by an image acquiring unit, acquiring an image of the measurement target object; a first position and posture acquiring step of, by a first position and posture acquiring unit, acquiring a first position and posture of the three-dimensional form model in a first coordinate system on the basis of a first geometric feature of the three-dimensional form model and a first geometric feature within the image; and a second position and posture acquiring step of, by a second position and posture acquiring unit, acquiring a second position and posture of the three-dimensional form model in a second coordinate system that has a coordinate axis and is different from the first coordinate system on the basis of a second geometric feature of the three-dimensional form model and a second geometric feature within the image and the first position and posture.
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12. A storage medium storing a computer program for causing a computer to function as an information processing apparatus comprising:
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a model storing unit configured to store a three-dimensional form model for acquiring the position and posture of a measurement target object by position and posture matching with the measurement target object; an image acquiring unit configured to acquire an image of the measurement target object; a first position and posture acquiring unit configured to acquire a first position and posture of the three-dimensional form model in a first coordinate system on the basis of a first geometric feature of the three-dimensional form model and a first geometric feature within the image; and a second position and posture acquiring unit configured to acquire a second position and posture of the three-dimensional form model in a second coordinate system that has a coordinate axis and is different from the first coordinate system on the basis of a second geometric feature of the three-dimensional form model and a second geometric feature within the image and the first position and posture.
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Specification