Canon Kabushiki Kaisha

Shinji Uchiyama

Kiyohide Satoh

Daisuke Kotake

Hiroyuki Yamamoto

Takaaki Endo

Toshikazu Ohshima

Masahiro Suzuki

Akihiro Katayama

Kazuhiko Kobayashi

Masakazu Fujiki

Kazuki Takemoto

Shinichi Aratani

Keisuke Tateno

Daisuke Watanabe

Hiroshi Yoshikawa

Kenji Morita

Mahoro Anabuki

Rika Takemoto

Masahiro Shibata

Takashi Aso

Tsuyoshi Kuroki

Takashi Morino

Yoshiki Kajita

Daisuke Eto

Yoshihiko Iwase

Takuya Tsujimoto

Atsushi Kumagai

Tomoaki Kawai

Toshihiro Kobayashi

Yusuke Nakazato

Tsuneo Yoshikawa

Yasuyoshi Yokokohji

Tomoyasu Nakatsuru

Christian Sandor

Hiroto Yoshii

Ryo Ishikawa

Hideyuki Tamura

Hisayoshi Furihata

Masatoshi Okutomi

Masaki Nakajima

Hiroyuki Yuki

Hirokazu Kato

Neesha Subramaniam

An information processing apparatus of the present invention correctly determines in advance whether interference occurs between an object around a target workpiece to be grasped, and a hand. The information processing apparatus includes an obtaining unit configured to obtain a range image of a space including a plurality of workpieces, an identification unit configured to identify, from the obtained range image, an area of the target workpiece to be grasped among the plurality of workpieces, an interference determination unit configured to determine whether interference occurs between an area included in the range image and a grasping unit configured to grasp the target workpiece, and an output unit configured to output, based on a result of the interference determination by the interference determination unit, a result of determination as to whether interference occurs between an area excluding the area of the target workpiece and the grasping unit.

Information processing apparatus for determining interference between object and grasping unit, information processing method, and storage medium

An information processing apparatus having a changed region detection unit performs a process that includes repeating a cycle. The cycle includes causing a projection unit to project a pattern, that includes light and dark portions, onto target objects, causing an image capturing unit to capture an image of the target objects while the pattern is being projected by the projection unit, and causing a holding unit to hold one of the target objects based on a captured image obtained by the image capturing processing. Based on a reference boundary position corresponding to a boundary between the light and dark portions in the pattern in the captured image obtained in a previous cycle and a target boundary position in the captured image obtained in a current cycle, the changed region detection unit detects a changed region with a change between the previous cycle and the current cycle.

Information processing apparatus, and information processing method

An image processing apparatus includes an acquisition unit to acquire a captured image obtained by capturing, by an image capturing unit, a target object to which a pattern has been projected. An adjustment unit adjusts, based on the pattern in the acquired captured image, at least one of a first parameter for controlling brightness of the pattern projected from a projection unit configured to project the pattern, and a second parameter for controlling an exposure amount of the image capturing unit.

Image processing apparatus and image processing method that adjust, based on a target object distance, at least one of brightness of emitted pattern light and an exposure amount

A three-dimensional shape model of a target object is input. A position and orientation of at least one image sensing device used to capture an image of the target object is set so as to virtually set a relative position and orientation between the target object and the image sensing device for the three-dimensional shape model of the target object. At least one position and orientation of the image sensing device is selected. Geometric features are grouped based on a relationship between an image to be obtained at the selected position and orientation of the image sensing device and the geometric features of the three-dimensional shape model.

Model generation apparatus, information processing apparatus, model generation method, and information processing method

An index detecting section detects an index in a physical space, from a captured image obtained by an imaging apparatus. An erroneous-detection prevention processing section performs erroneous-detection prevention processing, based on information relating to image coordinates of a detected index. An image output section outputs, to a display device, an image having been subjected to the erroneous-detection prevention processing. This prevents an image displayed on the display device from being mistaken for a real index when the display device is in the field of view of the imaging apparatus.

Information processing apparatus and method

An information processing apparatus comprises: an image acquisition unit that acquires a captured image of a target object onto which a pattern is projected; a distance acquisition unit that acquires, based on the image, a plurality of distance values, each indicating a distance to the target object; a determination unit that determines whether each of the acquired distance values is noise generated by multiple reflection of the pattern; a first processing unit that performs first processing, using distance values obtained by removing a distance value that is determined to be the noise from the plurality of distance values; and a second processing unit that performs second processing, using the plurality of distance values that are acquired by the distance acquisition unit and from which the distance value determined to be the noise has not been removed.

Information processing apparatus, method for controlling information processing apparatus, gripping system, and storage medium

Even in a case where an amount-of-reflected-light distribution of a surface is locally different, in order to measure a distance with high accuracy, at least one embodiment of a distance measurement apparatus includes an image acquisition unit configured to acquire a first captured image obtained by capturing a measurement target object onto which a measurement pattern is projected, and a second captured image obtained by capturing the measurement target object irradiated with approximately uniform illumination, a smoothing filter determination unit configured to, based on the second captured image, determine a smoothing filter to be applied to the first captured image, a smoothing filter application unit configured to apply the smoothing filter determined by the smoothing filter determination unit to the first captured image, and a measurement unit configured to measure a distance from the measurement target object based on the first captured image to which the smoothing filter is applied.

Distance measurement apparatus, distance measurement method, and storage medium

A position/orientation measurement apparatus inputs the two-dimensional image of a measurement object captured by an image capturing apparatus, obtains the distance data of the measurement object measured by a distance sensor, detects an image feature of the measurement object from the two-dimensional image, determines the state of the measurement object, sets, based on the determined state, a usage mode regarding the image feature and the distance data when measuring the position/orientation, and measures the position/orientation of the measurement object in accordance with the set usage mode.

Position/orientation measurement apparatus, measurement processing method thereof, and non-transitory computer-readable storage medium

A moving method for moving a plurality of objects by repeating a process of capturing an image of objects, recognizing a position of an object using the image acquired by image capturing, and moving the recognized object includes acquiring an image of a plurality of objects randomly placed in a first state in each of a first space and a second space partitioned from each other, setting a first partial area corresponding to the first space and a second partial area corresponding to the second space in an entire area of the image in the first state, recognizing a position of a first object in the first partial area and a position of a second object in the second partial area using the image in the first state, and moving the recognized first and second objects using a robot.

Information processing apparatus, processing system, object moving system, and object moving method

A processing apparatus includes an acquisition unit that acquires a captured image obtained by capturing, by an image capturing unit, a target object to which a projection unit has emitted pattern light. A derivation unit derives a distance from the image capturing unit to the target object by using the captured image. An adjustment unit adjusts, in accordance with the derived distance, at least one of a first parameter for controlling brightness of the pattern light emitted from the projection unit, and a second parameter for controlling an exposure amount of the image capturing unit.

An apparatus is provided with a first sensor unit that obtains two-dimensional information or three-dimensional information about a target object with a first position and orientation, a second sensor unit that obtains the two-dimensional information about the target object, a three-dimensional position and orientation measurement unit that measures three-dimensional position and orientation of the target object based on the information obtained by the first sensor unit, a second sensor position and orientation determination unit that calculates second position and orientation based on a measurement result with the three-dimensional position and orientation measurement unit and model information about the target object, and a three-dimensional position and orientation measurement unit that measures the three-dimensional position and orientation of the target object based on the information obtained by the second sensor unit with the second position and orientation and the model information about the target object.

Information processing system, method, and program

A position and orientation measuring apparatus calculates a difference between an image feature of a two-dimensional image of an object and a projected image of a three-dimensional model in a stored position and orientation of the object projected on the two-dimensional image. The position and orientation measuring apparatus further calculates a difference between three-dimensional coordinate information and a three-dimensional model in the stored position and orientation of the object. The position and orientation measuring apparatus then converts a dimension of the first difference and/or the second difference to cause the first difference and the second difference to have an equivalent dimension and corrects the stored position and orientation.

Position and orientation calibration method and apparatus

An image processing apparatus includes an image acquisition unit configured to acquire a tomographic image of an object, a layer detection unit configured to detect a layer that constitutes the object from the tomographic image acquired by the image acquisition unit, and a normal structure estimation unit configured to estimate a normal structure of the layer based on the layer detected by the layer detection unit and a feature that is modified by a lesion of the layer.

Image processing apparatus and method for controlling the same

An information processing apparatus of the present invention correctly determines in advance whether interference occurs between an object around a target workpiece to be grasped, and a hand. The information processing apparatus includes an obtaining unit configured to obtain a range image of a space including a plurality of workpieces, an identification init configured to identify, from the obtained range image, an area of the target workpiece to be grasped among the plurality of workpieces, an interference determination unit configured to determine whether interference occurs between an area included in the range image and a grasping unit configured to grasp the target workpiece, and an output unit configured to output, based on a result of the interference determination by the interference determination unit, a result of determination as to whether interference occurs between an area excluding the area of the target workpiece and the grasping unit.

Information processing apparatus for determining interference between peripheral objects and grasping unit, information processing method, and storage medium

Growing community of inventors

Yokohama, Japan

Shinji Uchiyama