发明名称 |
POSITION AND ORIENTATION MEASUREMENT APPARATUS,POSITION AND ORIENTATION MEASUREMENT METHOD, AND STORAGE MEDIUM |
摘要 |
An apparatus comprises: extraction means for extracting an occluded region in which illumination irradiated onto the target object is occluded in an obtained two-dimensional image; projection means for projecting a line segment that constitutes a three-dimensional model onto the two-dimensional image based on approximate values of position/orientation of the target object; association means for associating a point that constitutes the projected line segment with a point that constitutes an edge in the two-dimensional image; determination means for determining whether the associated point that constitutes an edge in the two-dimensional image is present within the occluded region; and measurement means for measuring the position/orientation of the target object based on a distance on the two-dimensional image between the point that constitutes the projected line segment and the point that constitutes the edge, the points being associated as the pair, and a determination result.
|
申请公布号 |
US2013121592(A1) |
申请公布日期 |
2013.05.16 |
申请号 |
US201113811776 |
申请日期 |
2011.07.12 |
申请人 |
FUJIKI MASAKAZU;NAKAZATO YUSUKE;UCHIYAMA SHINJI;CANON KABUSHIKI KAISHA |
发明人 |
FUJIKI MASAKAZU;NAKAZATO YUSUKE;UCHIYAMA SHINJI |
分类号 |
G06K9/32 |
主分类号 |
G06K9/32 |
代理机构 |
|
代理人 |
|
主权项 |
|
地址 |
|