POSITION AND ORIENTATION MEASUREMENT APPARATUS, POSITION AND ORIENTATION MEASUREMENT METHOD, AND STORAGE MEDIUM

摘要

A position and orientation measurement apparatus for measuring a position and orientation of a target object, comprising: storage means for storing a three-dimensional model representing three-dimensional shape information of the target object; obtaining means for obtaining a plurality of measurement data about the target object sensed by image sensing means; reliability calculation means for calculating reliability for each of the pieces of measurement data; selection means for selecting the measurement data by a predetermined number from the plurality of measurement data based on the reliability; association means for associating planes forming the three-dimensional model with each of the measurement data selected by the selection means; and decision means for deciding the position and orientation of the target object based on the result associated by the association means.