| 摘要 |
An information processing apparatus (1) which estimates a three-dimensional position-and-orientation of a measuring object (50) using an imaging apparatus (20;30) capable of capturing a two-dimensional image and a range image, includes a data storing unit (110) configured to store verification data for estimating a position-and-orientation of a measuring object, a two-dimensional image input unit (120) configured to input a two-dimensional image captured by the imaging apparatus (20;30) in a first position-and-orientation, a range image input unit (130) configured to input a range image captured by the imaging apparatus (20;30) in a second position-and-orientation, a position-and-orientation information input unit (150) configured to acquire position-and-orientation difference information which is relative position-and-orientation information in the first position-and-orientation and the second position-and-orientation, and a calculation unit (160) configured to calculate, based on the position-and-orientation difference information, a position-and-orientation of the measuring object so that the verification data for estimating the position-and-orientation matches the two-dimensional image and the range image. |
