Image generation apparatus, image generation method and storage medium for generating a target image based on a difference between a grip-state image and a non-grip-state image

摘要

An image generation apparatus comprises: a first-image obtaining unit adapted to obtain an image obtained by causing an image capturing unit to capture the grip unit controlled so as to place the target object in one predetermined orientation of a plurality of predetermined orientations with respect to the image capturing unit and the target object in the one predetermined orientation as a grip-state image; a second-image obtaining unit adapted to obtain, as a non-grip-state image corresponding to the one predetermined orientation, an image of the grip unit that does not grip the target object and is placed in a predetermined orientation coincident with the orientation controlled to place the target object in the one predetermined orientation; and an image generation unit adapted to generate a target object image including only the target object for the one predetermined orientation based on a difference between the grip-state image and the non-grip-state image.

主权项

1. An image generation apparatus comprising:
a grip unit configured to grip a target object by a hand with a plurality of fingers; an image capturing unit configured to capture an image of at least one of the target object and said grip unit; an image processing unit configured to process an image; and a grip controller configured to control said grip unit; and an image capturing controller configured to control said image capturing unit, wherein said image capturing controller controls said image capturing unit to capture, as a grip-state image for a predetermined orientation, said grip unit and the target object when said grip controller controls said grip unit to grip the target object by the hand in a grip state and place the target object in the predetermined orientation relative to said image capturing unit, wherein the image capturing controller stores the orientation and position of the hand in the grip state, wherein said image capturing controller controls said image capturing unit to capture, as a non-grip-state image for the predetermined orientation, said grip unit when said grip controller controls said grip unit not to grip the target object, to be in the stored position and orientation that are coincident with the position and orientation in which said grip unit gripped and placed the target object in the predetermined orientation, and to be positioned and oriented in the same way of opening the fingers of the hand when said grip unit gripped the target object by the hand, and wherein said image processing unit generates the target object image representing the target object in the predetermined orientation based on a difference between the grip-state image for the predetermined orientation and the non-grip-state image for the predetermined orientation.