| 摘要 |
<P>PROBLEM TO BE SOLVED: To stably measure the position and orientation of an object in an object and capturing environment. <P>SOLUTION: This apparatus of estimating the position and orientation inputs an image capturing an object, inputs a distance image including three-dimensional coordinates of the object, extracts an image feature from the captured image, determines whether the image feature represents a shape of the object based on three-dimensional coordinates at a position on the distance image corresponding to the image feature, correlates the image feature determined to represent the shape of the object with a part of a three-dimensional model representing the shape of the object, and estimates the position and orientation of the object based on a correlation result. <P>COPYRIGHT: (C)2011,JPO&INPIT |
