发明名称 |
Position and orientation measurement apparatus and position and orientation measurement method |
摘要 |
A position and orientation measurement apparatus comprises: distance information obtaining means (153,200) for obtaining distance information of a target object captured by capturing means (152); grayscale image obtaining means (201) for obtaining a grayscale image of the target object; first position and orientation estimation means (203) for estimating a position and orientation of the target object based on the information of a three-dimensional shape model and the distance information; second position and orientation estimation means (204) for estimating 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 determination means (156) for determining whether a parameter of the capturing means is needed to be calibrated or not, based on both a first and second estimated values.
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申请公布号 |
EP2416113(A2) |
申请公布日期 |
2012.02.08 |
申请号 |
EP20110176438 |
申请日期 |
2011.08.03 |
申请人 |
CANON KABUSHIKI KAISHA |
发明人 |
KOBAYASHI, KAZUHIKO;UCHIYAMA, SHINJI |
分类号 |
G01B11/00;G01S5/16;G01S17/02 |
主分类号 |
G01B11/00 |
代理机构 |
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地址 |
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