Information processing apparatus and information processing method

摘要

An information processing apparatus configured to estimate a position and orientation of a measuring object using an imaging apparatus includes an approximate position and orientation input unit configured to input a relative approximate position and orientation between the imaging apparatus and the measuring object, a first position and orientation updating unit configured to update the approximate position and orientation by matching a three-dimensional shape model to a captured image, a position and orientation difference information input unit configured to calculate and acquire a position and orientation difference amount of the imaging apparatus relative to the measuring object having moved after the imaging apparatus has captured an image of the measuring object or after last position and orientation difference information has been acquired, and a second position and orientation updating unit configured to update the approximate position and orientation based on the position and orientation difference amount.

主权项

1. An information processing apparatus configured to estimate a position and orientation of a measuring object, the information processing apparatus comprising at least one processor coupled to at least one memory, the at least one processor being programmed to:
store data of a three-dimensional shape model of the measuring object; acquire a two-dimensional image of the measuring object, wherein the two-dimensional image is captured by an imaging apparatus at a first time; acquire a relative position and orientation between the imaging apparatus and the measuring object; update the relative position and orientation between the imaging apparatus and the measuring object by associating the three-dimensional shape model with the two-dimensional image, based on the relative position and orientation; acquire a position and orientation difference amount of the imaging apparatus between the first time and a second time being different from the first time, wherein the relative position and orientation between the imaging apparatus and the measuring object has been changed between the first time and the second time; and update the updated relative position and orientation between the imaging apparatus and the measuring object based on the relative position and orientation difference amount of the imaging apparatus between the first time and the second time.