INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING METHOD

• US 20140293009A1
• Filed: 03/31/2014
• Published: 10/02/2014
• Est. Priority Date: 04/01/2013
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Nakazato, Yusuke
• Granted Patent: US 9,826,218 B2
• Time in Patent Office: Days
• US Class Current: 348/46
• CPC Class Codes: G01B 11/25 by projecting a pattern, e.g. one or more lines, moiré fringes on the object G01B11/255 takes precedence ; image analysis for depth or shape recovery G06T7/50
• CPC Class Codes: G01B 11/26 for measuring angles or tapers; for testing the alignment of axes
• CPC Class Codes: H04N 13/254 in combination with electromagnetic radiation sources for illuminating objects

Abstract

An image representing reflected light of structured light is acquired, distance information is calculated, from the image, and a measurement line map storing the distance information is generated. The structured light forms a plurality of measurement lines at discrete positions, and the measurement line map is formed as a two-dimensional array in which one dimension includes elements in a number corresponding to a number of the measurement lines, and another dimension includes elements in a number corresponding to a number of pixels of the image in a lengthwise direction of the measurement lines.

Claims

1. An information processing apparatus comprising:

an acquisition unit configured to acquire an image representing reflected light of structured light; and

a generation unit configured to calculate distance information from the Image and generate a measurement tine map storing the distance information,

wherein the structured light forms a plurality of measurement lines at discrete positions, and the measurement line map is formed as a two-dimensional array in which one dimension includes elements in a number corresponding to a number of the measurement lines, and another dimension includes elements in a number corresponding to a number of pixels of the image in a lengthwise direction of the measurement lines, and

wherein at least one of the acquisition unit or the generation unit is implemented by using a processor.

2. The apparatus according to claim 1, wherein the acquisition unit acquires the image by controlling a projecting apparatus configured to project the structured light and an image capturing apparatus configured to receive the reflected light.

3. The apparatus according to claim 2, wherein the plurality of measurement lines are substantially perpendicular to a line connecting the projecting apparatus and the image capturing apparatus.

4. The apparatus according to claim 1, wherein the distance information is information representing three-dimensional coordinate values of a measurement point.

5. The apparatus according to claim 1, further comprising a collation unit configured to collate the distance information stored in the measurement Sine map with shape information representing a three-dimensional shape of a detection target object so as to derive the object existing in a capturing range of the image.

6. The apparatus according to claim 5, wherein the collation unit comprises a preparation unit configured to prepare the shape information as a recognition dictionary.

7. The apparatus according to claim 5, wherein the collation unit comprises:

an extraction unit configured to extract a geometric feature from the distance information stored in the measurement tine map; and

an association unit configured to associate the extracted geometric feature with a geometric feature represented by the shape information so as to derive the object.

8. The apparatus according to claim 7, wherein the extraction unit searches for an observation point in neighborhood of an observation point of interest by referring to the measurement tine map and extracts the geometric feature from a positional relationship between the observation points.

9. The apparatus according to claim 5, wherein the collation unit comprises:

an obtaining unit configured to obtain a coarse position and orientation of the object; and

an association unit configured to project a geometric feature of the shape information of the object observable in the coarse position and orientation onto the measurement tine map and associate the geometric feature with a measurement point referred to from the measurement Sine map so as to derive the position and orientation of the object.

10. The apparatus according to claim 9, wherein the acquisition unit acquires the image by controlling a projecting apparatus configured to project the structured Sight and an image capturing apparatus configured to receive the reflected light, and

the association unit performs the projection by perspective projection conversion based on internal parameters of the projecting apparatus and the image capturing apparatus.

11. The apparatus according to claim 5, wherein the collation unit comprises:

an obtaining unit configured to obtain past distance information obtained by measuring the object in the past;

a setting unit configured to set a relative coarse position and orientation of the distance information based on a first measurement line map generated from the past distance information by the generation unit and a second measurement line map generated from the image by the generation unit; and

an association unit configured to associate a measurement point of the distance information stored in the second measurement line map with a measurement point of the distance information stored in the first measurement line map based on the relative coarse position and orientation so as to derive a relative position and orientation of the object.

12. The apparatus according to claim 5, further comprising a control unit configured to control, based on a result of the collation unit, a grip unit configured to grip the object.

13. The apparatus according to claim 5, wherein the shape information comprises a CAD model, and the collation unit derives a position and orientation of the object by model fitting using the geometric model.

14. The apparatus according to claim 9, wherein the association unit corrects the coarse position and orientation of the object such that a distance between the geometric feature of the shape information of the object and the associated measurement point is shortened so as to calculate the position and orientation of the object.

15. An information processing method comprising:

using a processor to perform the steps of;

acquiring an image representing reflected tight of structured light;

calculating distance information from the image; and

generating a measurement line map storing the distance information,

wherein the structured light forms a plurality of measurement lines at discrete positions, and the measurement line map is formed as a two-dimensional array in which one dimension includes elements in a number corresponding to a number of the measurement lines, and another dimension includes elements in a number corresponding to a number of pixels of the image in a lengthwise direction of the measurement lines,

16. A non-transitory computer readable medium storing a computer-executable program for causing a computer to perform an information processing method, wherein said method comprises:

using a processor to perform the steps of;

acquiring an image representing reflected light of structured light;

calculating distance information from the image; and

generating a measurement line map storing the distance information,

wherein the structured light forms a plurality of measurement lines at discrete positions, and the measurement line map is formed as a two-dimensional array in which one dimension includes elements in a number corresponding to a number of the measurement lines, and another dimension includes elements in a number corresponding to a number of pixels of the image in a lengthwise direction of the measurement lines.