| 摘要 |
<P>PROBLEM TO BE SOLVED: To implement robust and high-precision position/attitude measurement even for an object in which a feature uniquely determining a parameter with a specific degree of freedom, among degrees of freedom for a position/attitude with a model coordinate system as a criterion is lacked. <P>SOLUTION: An information processing apparatus includes model holding means which holds a three-dimensional shape model for acquiring a position/attitude of a measurement target object by position/attitude matching with the measurement target object, image capturing means which captures an image of the measurement target object, first position/attitude acquiring means which acquires a first position/attitude of the three-dimensional shape model in a first coordinate system on the basis of a first geometrical feature of the three-dimensional shape model and a first geometrical feature in the image, and second position/attitude acquiring means which acquires a second position/attitude of the three-dimensional shape model in a second coordinate system different from the first coordinate system on the basis of a second geometrical feature of the three-dimensional shape model, a second geometrical feature in the image and the first position/attitude. <P>COPYRIGHT: (C)2012,JPO&INPIT |
