Estimation apparatus, control method thereof, and program

摘要

An apparatus includes a capturing unit that captures a target object and generates a range image representing distance information, a general estimation unit that analyzes the range image and estimates a general position and orientation of the target object, and a determination unit that determines a priority order of a plurality of identification units, based on the estimated general position and orientation. In addition, a setting unit sets a search window indicating a range for detailed estimation of position and orientation of the range image based on a preregistered general size of the target object, a calculation unit calculates a difference between a first distance value of a first pixel in the range image and a second distance value of a second pixel which is next to the first pixel in the range image, and an updating unit updates the search window based on the calculated difference. A detailed estimation unit estimates a detailed position and orientation of the target object, using the plurality of identification units in the determined priority order within the range of the search window.

主权项

1. An apparatus comprising:
a capturing unit configured to capture a target object; and a processor, the processor being programmed to function as:
(1) a range image generation unit configured to generate a range image representing distance information from the capturing unit to the target object;(2) a general estimation unit configured to analyze the range image and estimate a general position and orientation of the target object;(3) a determination unit configured to determine a priority order of a plurality of identification units, each of which estimates a detailed position and orientation of the target object within a predetermined position and orientation range, based on the general position and orientation estimated by the general estimation unit;(4) a setting unit configured to set a search window indicating a range for detailed estimation of position and orientation of the range image based on a preregistered general size of the target object;(5) a calculation unit configured to calculate a difference between a first distance value of a first pixel in the range image and a second distance value of a second pixel which is next to the first pixel in the range image;(6) an updating unit configured to update the search window based on the calculated difference; and(7) a detailed estimation unit configured to estimate a detailed position and orientation of the target object, using the plurality of identification units in the priority order determined by the determination unit within the range of the search window.