INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To perform robust position and attitude measurement even in the presence of noise.SOLUTION: An information processing apparatus acquires an image that is photographed by an imaging device and includes an object to be measured; acquires information on schematic position and attitude of the object to be measured; estimates a direction of a shadow of the object to be measured in the image on the basis of the position of the imaging device; projects a plurality of geometric features on a two-dimensional plane on the basis of the schematic position and attitude; determines if each of the geometric features is likely to correspond to the shadow of the object to be measured on the basis of the direction of the shadow; sets a first flag in the geometric feature determined to be likely to correspond to the shadow; detects a plurality of image features from the image; projects the plurality of geometric features on the image on the basis of the schematic position and attitude; associates the plurality of projected geometric features with the plurality of image features on the basis of the set first flag; and derives the position and attitude of the object to be measured on the basis of a result of the association.SELECTED DRAWING: Figure 2