INFORMATION PROCESSING APPARATUS, METHOD FOR CONTROLLING INFORMATION PROCESSING APPARATUS, GRIPPING SYSTEM, AND STORAGE MEDIUM

摘要

An information processing apparatus comprises: an image acquisition unit that acquires a captured image of a target object onto which a pattern is projected; a distance acquisition unit that acquires, based on the image, a plurality of distance values, each indicating a distance to the target object; a determination unit that determines whether each of the acquired distance values is noise generated by multiple reflection of the pattern; a first processing unit that performs first processing, using distance values obtained by removing a distance value that is determined to be the noise from the plurality of distance values; and a second processing unit that performs second processing, using the plurality of distance values that are acquired by the distance acquisition unit and from which the distance value determined to be the noise has not been removed.

主权项

1. An information processing apparatus comprising:
an image acquisition unit configured to acquire a captured image of a target object onto which a pattern is projected; a distance acquisition unit configured to acquire, based on the image, a plurality of distance values, each indicating a distance to the target object; a determination unit configured to determine whether each of the acquired distance values is noise generated by multiple reflection of the pattern; a first processing unit configured to perform first processing, using distance values obtained by removing a distance value that is determined to be the noise from the plurality of distance values; and a second processing unit configured to perform second processing that is different from the first processing, using the plurality of distance values that are acquired by the distance acquisition unit and from which the distance value determined to be the noise has not been removed.