POSITION AND ORIENTATION MEASURING APPARATUS, INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING METHOD
First Claim
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.
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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.
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Citations
1 Claim
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1. A position and orientation measurement apparatus comprising:
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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.
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Specification