Position and orientation measurement apparatus, position and orientation measurement method, and storage medium

摘要

A position and orientation measurement apparatus comprises: a distance information obtaining unit adapted to obtain distance information of a target object captured by a capturing unit; a grayscale image obtaining unit adapted to obtain a grayscale image of the target object; a first position and orientation estimation unit adapted to estimate a position and orientation of the target object based on the information of a three-dimensional shape model and the distance information; a second position and orientation estimation unit adapted to estimate a position and orientation of the target object based on a geometric feature of the grayscale image and projection information obtained by projecting, on the grayscale image, the information of the three-dimensional shape model; and a determination unit adapted to determine whether a parameter of the capturing unit is needed to be calibrated or not, based on both a first and second estimated values.

主权项

1. A position and orientation measurement apparatus comprising:
a storage unit configured to store information of a three-dimensional shape model of a target object; a distance information obtaining unit configured to obtain distance information of the target object captured by a capturing unit; an image obtaining unit configured to obtain a two-dimensional image of the target object captured by the capturing unit; a first position and orientation estimation unit configured to estimate a first estimated value representative of the position and orientation of the target object based on the information of the three-dimensional shape model stored in said storage unit and the distance information; a second position and orientation estimation unit configured to estimate a second estimated value representative of the position and orientation of the target object based on a geometric feature of the two-dimensional image and projection information obtained by projecting, on the two-dimensional image, the information of the three-dimensional shape model stored in said storage unit; and a determination unit configured to determine whether a parameter of the capturing unit needs to be calibrated, based on both the first estimated value estimated by said first position and orientation estimation unit and the second estimated value estimated by said second position and orientation estimation unit.