INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND PROGRAM
First Claim
1. An information processing apparatus comprising:
- a model acquiring unit configured to acquire a three-dimensional shape model of a target object;
a display control unit configured to cause a display unit to display the three-dimensional shape model;
a setting unit configured to set a first orientation and a second orientation different from the first orientation on the basis of the three-dimensional shape model displayed in the display unit;
a parameter deriving unit configured to derive a transformation parameter that transforms the first orientation into the second orientation; and
a storage unit configured to store the transformation parameter.
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Abstract
A technique is provided, with which, even for an object which has a shape prone to be erroneously recognized and for which it is difficult to generate an initial value expected to produce a true value through fitting, it is possible to generate an appropriate initial value candidate through intuitive input and reduce erroneous recognition.
An information processing apparatus includes a model acquiring unit configured to acquire a three-dimensional shape model of a target object, a display control unit configured to cause a display unit to display the three-dimensional shape model, a setting unit configured to set first and second orientations different from each other on the basis of the three-dimensional shape model displayed in the display unit, a parameter deriving unit configured to derive a transformation parameter that transforms the first orientation into the second orientation, and a storage unit configured to store the transformation parameter.
36 Citations
19 Claims
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1. An information processing apparatus comprising:
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a model acquiring unit configured to acquire a three-dimensional shape model of a target object; a display control unit configured to cause a display unit to display the three-dimensional shape model; a setting unit configured to set a first orientation and a second orientation different from the first orientation on the basis of the three-dimensional shape model displayed in the display unit; a parameter deriving unit configured to derive a transformation parameter that transforms the first orientation into the second orientation; and a storage unit configured to store the transformation parameter. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An information processing apparatus comprising:
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an image acquiring unit configured to acquire an image containing a target object; a model holding unit configured to hold a three-dimensional shape model of the target object; a parameter holding unit configured to hold a transformation parameter between a first orientation of the target object and a second orientation different from the first orientation; an approximate position and orientation acquiring unit configured to acquire an approximate position and orientation of the target object in the image; and a deriving unit configured to derive a position and orientation of the target object in the image on the basis of the approximate position and orientation, the transformation parameter, and the three-dimensional shape model. - View Dependent Claims (8, 9, 10, 11, 12)
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13. An information processing apparatus comprising:
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a display control unit configured to cause a display unit to display a three-dimensional shape model of a target object; a determining unit configured to determine a specific region of the three-dimensional shape model displayed in the display unit in accordance with a user'"'"'s manipulation; and a storage unit configured to store the determined specific region.
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14. An information processing method comprising:
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a model acquiring step of acquiring a three-dimensional shape model of a target object; a display control step of causing a display unit to display the three-dimensional shape model; a setting step of setting a first orientation and a second orientation different from the first orientation on the basis of the three-dimensional shape model displayed in the display unit; and a deriving step of deriving a transformation parameter that transforms the first orientation into the second orientation.
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15. An information processing method comprising:
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an image acquiring step of acquiring an image containing a target object; an approximate position and orientation acquiring step of acquiring an approximate position and orientation of the target object in the image; and a deriving step of deriving a position and orientation of the target object in the image on the basis of the approximate position and orientation, a transformation parameter between a first orientation of the target object and a second orientation different from the first orientation, and a three-dimensional shape model of the target object.
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16. An information processing method comprising:
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a display control step of causing a display unit to display a three-dimensional shape model of a target object; a determining step of determining a specific region of the three-dimensional shape model displayed in the display unit in accordance with a user'"'"'s manipulation; and a storage step of storing the determined specific region.
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17. A program executed by a computer and causing the computer to function as each unit of an information processing apparatus, the apparatus comprising:
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a model acquiring unit configured to acquire a three-dimensional shape model of a target object; a display control unit configured to cause a display unit to display the three-dimensional shape model; a setting unit configured to set a first orientation and a second orientation different from the first orientation on the basis of the three-dimensional shape model displayed in the display unit; a parameter deriving unit configured to derive a transformation parameter that transforms the first orientation into the second orientation; and a storage unit configured to store the transformation parameter.
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18. A program executed by a computer and causing the computer to function as each unit of an information processing apparatus, the apparatus comprising:
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an image acquiring unit configured to acquire an image containing a target object; a model holding unit configured to hold a three-dimensional shape model of the target object; a parameter holding unit configured to hold a transformation parameter between a first orientation of the target object and a second orientation different from the first orientation; an approximate position and orientation acquiring unit configured to acquire an approximate position and orientation of the target object in the image; and a deriving unit configured to derive a position and orientation of the target object in the image on the basis of the approximate position and orientation, the transformation parameter, and the three-dimensional shape model.
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19. A program executed by a computer and causing the computer to function as each unit of an information processing apparatus, the apparatus comprising:
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a display control unit configured to cause a display unit to display a three-dimensional shape model of a target object; a determining unit configured to determine a specific region of the three-dimensional shape model displayed in the display unit in accordance with a user'"'"'s manipulation; and a storage unit configured to store the determined specific region.
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Specification