| 摘要 |
A position and orientation estimation apparatus inputs an image capturing an object, inputs a distance image including three-dimensional coordinate data representing the object, extracts an image feature from the captured image, determines whether the image feature represents a shape of the object based on three-dimensional coordinate data at a position on the distance image corresponding to the image feature, correlates the image feature representing the shape of the object with a part of a three-dimensional model representing the shape of the object, and estimates the position and orientation of the object based on a correlation result. |
