INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND STORAGE MEDIUM

摘要

In order to perform robust position and orientation measurement even in a situation where there are noises, an image, including a measurement target object, captured by an image capturing apparatus is acquired, a flag indicating whether any one of geometric features constituting a three-dimensional model of the measurement target object or a plurality of image features detected from the image corresponds to a shadow of the measurement target object is set, the plurality of geometric features and the plurality of image features detected from the image are associated with each other based on an approximate position and orientation of the measurement target object and the flag, and a position and orientation of the measurement target object is derived based on a result of the association by the association unit.

主权项

1. An information processing apparatus comprising:
an acquisition unit configured to acquire an image, including a measurement target object, captured by an image capturing apparatus; a storage unit configured to store information about a plurality of geometric features constituting a three-dimensional model of the measurement target object; a setting unit configured to set, in a case where the plurality of geometric features is associated with a plurality of image features in the image, a flag for the geometric feature that may correspond to the image feature caused by a shadow of the measurement target object; an association unit configured to associate the plurality of geometric features with the plurality of image features detected from the image, based on an approximate position and orientation of the measurement target object and the flag set by the setting unit; and a derivation unit configured to derive a position and orientation of the measurement target object based on a result of the association by the association unit.