POSITION AND ORIENTATION MEASURING APPARATUS, INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING METHOD

• US 20140219502A1
• Filed: 02/05/2014
• Published: 08/07/2014
• 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
• Granted Patent: US 9,704,248 B2
• Time in Patent Office: Days
• US Class Current: 382/103
• 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:

an acquisition unit configured to acquire, from an image including a target object, at least one coarse position and orientation of the target object;

a generation unit configured to generate, based on the acquired coarse position and orientation, at least one candidate position and orientation which is different from the coarse position and orientation as an initial position and orientation used for deriving a position and orientation of the target object; and

a deriving unit configured to derive the position and orientation of the target object in the image by associating model information of the target object with the target object in the image based on the candidate position and orientation generated as the initial position and orientation.

2. The position and orientation measurement apparatus according to claim 1, wherein the acquisition unit acquires the at least one coarse position and orientation of the target object in the image by performing pattern matching with respect to the image.

3. The position and orientation measurement apparatus according to claim 1, wherein the acquisition unit performs pattern matching by searching the image by using model information of the target object.

4. The position and orientation measurement apparatus according to claim 1, wherein the acquisition unit acquires a plurality of coarse positions and orientations, and

wherein the generation unit newly generates at least one candidate position and orientation based on a distribution of the acquired coarse positions and orientations.

5. The position and orientation measurement apparatus according to claim 1, wherein the generation unit approximates a distribution of the acquired plurality of coarse positions and orientations with a predetermined distribution function, and generates at least one candidate position and orientation according to the approximated distribution.

6. The position and orientation measurement apparatus according to claim 1, wherein the generation unit divides a distribution of the acquired coarse position and orientation into a plurality of areas and generates at least one candidate position and orientation based on the divided area.

7. The position and orientation measurement apparatus according to claim 1, wherein the coarse position and orientation acquired by the acquisition unit is acquired at a predetermined resolution, and wherein the generation unit newly generates at least one candidate position and orientation based on the acquired coarse position and orientation and the resolution used when the coarse position and orientation is acquired.

8. The position and orientation measurement apparatus according to claim 7, wherein the generation unit generates at least one candidate position and orientation by changing at least one of the position and the orientation in a range of the predetermined resolution with respect to the acquired coarse position and orientation.

9. The position and orientation measurement apparatus according to claim 7, wherein the resolution is a minimum step width which the coarse position and orientation is expressed.

10. The position and orientation measurement apparatus according to claim 1, wherein the generation unit generates at least one candidate position and orientation based on the acquired coarse position and orientation, texture information of the target object, and the image.

11. The position and orientation measurement apparatus according to claim 1, wherein the generation unit generates at least one candidate position and orientation based on the acquired coarse position and orientation and shape information of the target object.

12. The position and orientation measurement apparatus according to claim 1, wherein the generation unit generates at least one candidate position and orientation based on the acquired coarse position and orientation, shape information of the target object, and the image.

13. The position and orientation measurement apparatus according to claim 1, wherein the deriving unit further includes:

a selection unit configured to select the candidate position and orientation of a predetermined number from the generated candidate positions and orientations, and derives the position and orientation of the target object in the image by associating the model information with the target object in the image based on the selected candidate position and orientation.

14. The position and orientation measurement apparatus according to claim 13, wherein the selection unit selects the generated plurality of candidate positions and orientations based on a shift amount which is generated when associating the model information with the target object in the image.

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

16. An information processing apparatus comprising:

the position and orientation measurement apparatus according to claim 1;

a holding unit configured to hold the target object; and

a control unit configured to control the holding unit based on the position and orientation of the target object measured by the position and orientation measurement apparatus.

17. A position and orientation measurement method comprising:

acquiring, from an image including a target object, at least one coarse position and orientation of the target object;

generating, based on the acquired coarse position and orientation, at least one candidate position and orientation as an initial position and orientation used for deriving a position and orientation of the target object; and

deriving the position and orientation of the target object in the image by associating model information of the target object with the target object in the image based on the candidate position and orientation generated as the initial position and orientation.

20. A storage medium storing a computer-executable program causing a computer to execute the position and orientation measurement method according to claim 17.

18. An information processing apparatus configured to perform fitting on first shape information of a target object and second shape information having a portion of an area overlapping the first shape information, the information processing apparatus comprising:

an acquisition unit configured to acquire a possible distribution of a position and orientation of the first shape information;

an initial position and orientation generation unit configured to generate an initial position and orientation of the first shape information based on the acquired distribution;

an initial position and orientation selection unit configured to select at least one initial position and orientation from the generated plurality of initial positions and orientations; and

a determination unit configured to determine, based on the selected initial position and orientation, a position and orientation of the first shape information for performing fitting on the second shape information.

19. An information processing method for performing fitting on first shape information of a target object and second shape information having a portion of an area overlapping the first shape information, the information processing method comprising:

acquiring a possible distribution of a position and orientation of the first shape information;

generating an initial position and orientation of the first shape information based on the acquired distribution;

selecting at least one initial position and orientation from the generated plurality of initial positions and orientations; and

determining a position and orientation of the first shape information for performing fitting on the second shape information based on the selected initial position and orientation.

21. A storage medium storing a computer-executable program causing a computer to execute the information processing method according to claim 19.