INFORMATION PROCESSING APPARATUS AND METHOD

• US 20130271577A1
• Filed: 12/22/2011
• Published: 10/17/2013
• Est. Priority Date: 12/28/2010
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Watanabe, Daisuke, Uchiyama, Shinji, Kotake, Daisuke
• Granted Patent: US 9,467,682 B2
• Time in Patent Office: Days
• US Class Current: 348/46
• 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 7/75 involving models
• CPC Class Codes: H04N 13/275 from 3D object models, e.g. computer-generated stereoscopic image signals

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.

Claims

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.

2. The information processing apparatus according to claim 1, wherein the first coordinate system is an image coordinate system of an image pickup apparatus with which the image is acquired;

and

the second coordinate system is a model coordinate system based on the three-dimensional form model.

3. The information processing apparatus according to claim 2, wherein the first position and posture are a position and posture represented by position and posture parameters of six degrees of freedom in the image coordinate system.

4. The information processing apparatus according to claim 2, wherein the second position and posture are a position and posture represented by position and posture parameters of three or fewer degrees of freedom based on the model coordinate system.

5. The information processing apparatus according to claim 4, where the second position and posture are a position and posture which are represented by at least one of a rotation component of one degree of freedom based on the model coordinate system and a translation component of one degree of freedom.

6. The information processing apparatus according to claim 1, wherein the second position and posture acquiring unit performs pattern matching by using an image of a second geometric feature of the three-dimensional form model 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.

7. The information processing apparatus according to claim 1, wherein the second position and posture acquiring unit acquires the second position and posture by nonlinear optimization.

8. The information processing apparatus according to claim 1, wherein the second position and posture acquiring unit acquires the second position and posture from a simultaneous equation.

9. The information processing apparatus according to claim 1, wherein the image acquiring unit acquires, as an image of the measurement target object, at least one of a two-dimensional image and depth map of the measurement target object.

13. The information processing apparatus according to claim 1, wherein the first position and posture are parameters excluding parameters representing the second position and posture among position and posture parameters of six degrees of freedom in the model coordinate system.

14. The information processing apparatus according to claim 1, further comprising:

a CAD data storing unit configured to store three-dimensional design CAD data of a measurement target object; and

a model center geometric information determining unit configured to determine a model center axis or model center point that defines position and posture parameters of three or fewer degrees of freedom based on the model coordinate system from the three-dimensional design CAD data, wherein

the second coordinate system is determined on the basis of the model center axis or model center point determined by the model center geometric information determining unit.

15. The information processing apparatus according to claim 14, wherein the model center geometric information determining unit determines a model center axis that defines a rotation component of one degree of freedom and/or a translation component of one degree of freedom such that it may has a higher similarity to the position and/or direction of the rotation symmetrical axis extracted from a plurality of analysis curved plane in analysis curved plane planes contained in the three-dimensional design CAD data.

16. The information processing apparatus according to claim 14, wherein the model center geometric information determining unit determines a model center axis that defines a translation component of one degree of freedom such that it may has a higher similarity to the position and/or direction of the axis that defines translation extracted from a plurality of analysis curved plane in analysis curved plane planes contained in the three-dimensional design CAD data.

17. The information processing apparatus according to claim 14, wherein the model center geometric information determining unit determines a model center point that defines a rotation component of three degree of freedom such that it may has a higher similarity to the position of the center point extracted from a plurality of analysis curved plane in analysis curved plane planes contained in the three-dimensional design CAD data.

18. The information processing apparatus according to claim 17, further comprising a selecting unit configured to present one or more axes or points the similarities of which are high to a user by GUI and allowing selection of the model center axis or model center point on the basis of a user instruction.

10. An information processing apparatus comprising:

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.

11. An information processing method comprising:

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.

12. A storage medium storing a computer program for causing a computer to function as 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.