Canon Kabushiki Kaisha

Tomoaki Higo

Masahiro Suzuki

Kazuhiko Kobayashi

Daisuke Yamada

Toshihiro Kobayashi

Masayoshi Yamasaki

Masaki Inaba

Makoto Tomioka

Takayuki Yamada

Daisuke Kotake

Nozomu Kasuya

Yuichiro Hirota

Kazuyuki Ota

Tomokazu Tsuchimoto

An information processing apparatus that inspects a state of a target object using distance information obtained by measuring the target object includes an acquisition unit configured to acquire position information indicating a position of a part of the target object based on the distance information, and an output unit configured to output, in a case where a position of a part of the target object does not satisfy a predetermined condition, based on the position information and the condition, information regarding a direction in which the target object is to be moved from a current state of the target object to a state satisfying the condition.

Information processing apparatus, information processing method, and system that inspects a state of a target object using distance information

An information processing apparatus to output control information for controlling a suction device configured to suction a packaged object includes an input unit and an output unit. The input unit inputs an image obtained by performing image capturing of a surface of the packaged object. The output unit outputs the control information to control timing at which suction is started by the suction device, based on a state of the surface of the packaged object specified from the image.

Information processing apparatus, information processing method, and storage medium

An information processing apparatus includes an obtaining unit configured to obtain information of a plurality of labels applied to the learning data by a plurality of users, information regarding reliability of each applied label itself, and information regarding reliability of a user who applies the relevant label, wherein the information of the label is information regarding a result to be recognized in a case where the predetermined recognition is performed on the learning data and a determination unit configured to determine a label to the learning data from among the plurality of labels based on the reliability of the label itself and the reliability of the user who applies the relevant label.

An information processing apparatus includes an acquisition unit acquiring a first image and a second image, the first image being an image of a target area in an initial state, the second image being an image of the target area where a first object conveyed from a supply area is placed, an estimation unit estimating one or more second areas in the target area, based on a feature of a first area estimated using the first image and the second image, the first area being where the first object is placed, the one or more second areas each being an area where an object in the supply area can be placed and being different from the first area. A control unit controls a robot to convey a second object different from the first object from the supply area to any of the one or more second areas.

Information processing apparatus, information processing method, and system

An information processing apparatus that obtains, with high accuracy, the gripping position for gripping the target object by a gripping apparatus is provided. The information processing apparatus includes an image acquisition unit that acquires a captured image obtained by capturing an image of the target object, an image feature detection unit that detects a plurality of image features in the captured image, and a unit detection unit that detects a unit of a pattern in which a plurality of image features repeatedly appear. In addition, the information processing apparatus further includes a snipping position determining unit that determines a gripping position using the unit detected by the unit detection unit.

Information processing apparatus, method, and robot system

An information processing device finds a position/orientation of an image capturing unit including first and second cameras whose image capturing fields are partially overlapped, the information processing device comprises an input unit that inputs first and second images from the first and second cameras a holding unit holding a learning model; a first estimating unit that estimates first provisional geometric information from the first and second images; a second estimating unit that estimates second provisional geometric information on the basis of the first image and the learning model; a third estimating unit that estimates third provisional geometric information on the basis of the second image and the learning model; and a generating unit that, on the basis of the first, second, and third provisional geometric information, generates the position/orientation information of the image capturing unit.

Information processing device, control method therefor, non-transitory computer-readable storage medium, and driving control system

An information processing apparatus is configured to output a histogram for inspecting a state of a target object based on presence of a peak in a specific class in the histogram, the histogram representing a distribution of depth values from a measurement apparatus to the target object, the information processing apparatus including an acquisition unit configured to acquire depth information obtained from a result of measurement of a depth value from the measurement apparatus to the target object by the measurement apparatus and an output unit configured to output a histogram based on the acquired depth information so that a frequency of a class including a predetermined depth value to be applied when the depth value is not obtained is reduced.

Information processing apparatus, information processing method and storage medium

The information processing apparatus includes an estimation unit to estimate information indicating a holding success possibility from an image of a plurality of the target objects by using a pre-trained model that estimates the information indicating the holding success possibility in at least one or more partial regions, a determination unit to determine a holding region for the robot to hold the target object among the partial regions based on the information indicating the holding success possibility, and a control unit to move the robot based on the holding region and cause the robot to perform a holding operation on the target object. In a case where the holding operation performed on the target object by the robot is failed, the determination unit determines a partial region, among the partial regions, satisfying a predetermined condition as a next holding region based on the information indicating the holding success possibility.

Information processing apparatus, control method, robot system, and storage medium

An information processing apparatus for determining an area of a packaged object in a packaging material to suctioned by a suction device for picking up the packaged object includes an input unit configured to input an image obtained by capturing the packaged object, and a determining unit configured to, based on a state of a surface of the packaging material regarding a degree of ease of suction in each area of the surface of the packaging material identified based on the image, determine the area to be suctioned by the suction device.

Information processing apparatus and information processing method

A three-dimensional measurement apparatus including: a projection unit configured to project a pattern onto a measurement target object from one or more projection directions; and an image capturing unit configured to obtain one or more captured images by capturing an image of the measurement target object from one or more view points. The three-dimensional measurement apparatus obtains a position of the pattern projected onto the measurement target object based on the one or more captured images obtained by the image capturing unit, and calculates three-dimensional coordinates of a surface of the measurement target object based on the position of the pattern obtained from the one or more captured images and a position of the pattern estimated based on a parameter set that represents internal scattering of the measurement target object.

Three-dimensional measurement apparatus and control method for the same

An information processing apparatus for, to classify and detect a plurality of types of defects, detecting a defect in a target object without using data obtained by prior learning includes an acquisition unit configured to acquire an image group obtained by capturing a target object irradiated with light from a plurality of illumination units placed at a plurality of different positions, a generation unit configured to, based on luminance information of images included in the image group, generate a first luminance profile indicating a change in a luminance value of a first region, which is a region corresponding between the images, and a second luminance profile indicating a change in a luminance value of a second region, which is a region corresponding between the images, and a detection unit configured to detect a defect in the target object based on the first luminance profile and the second luminance profile.

Information processing apparatus, information processing method, and storage medium utilizing technique for detecting an abnormal state such as a scratch on a target

An information processing apparatus includes an image acquisition unit configured to acquire an image obtained by imaging a target object onto which a pattern having a bright portion and a dark portion is projected by a projection unit, an allocation unit configured to allocate, to a pixel in the image, a label corresponding to luminance of the pixel by referring to a characteristic of the pattern, and a correspondence relationship derivation unit configured to derive a correspondence relationship between a position of the pattern in a projection plane of the projection unit and a position of the pattern in the acquired image and a three-dimensional coordinate derivation unit configured to derive three-dimensional coordinates of a surface of the target object based on the derived correspondence relationship.

An information processing apparatus includes at least one projection unit configured to project a light pattern on a measuring target object, at least one imaging unit configured to capture an image of the measuring target object with the light pattern projected thereon, a measurement unit configured to measure a distance from the at least one projection unit or imaging unit to the measuring target object based on the image captured by the at least one imaging unit, a determination unit configured to determine whether a measured distance is valid, and a control unit configured to reduce luminance of a light pattern, included in a projected light pattern, which is projected on an area with respect to which the measured distance is determined by the determination unit to be valid.

Information processing apparatus and method for measuring a target object

A shape of an object is measured using a plurality of space encoding patterns each of which includes a light portion and a dark portion. A first and second pattern sets are obtained. The first set comprises patterns each of which has the light portion of each space encoding pattern masked by a pattern mask. The second set comprises patterns each of which has the light portion of each of the space encoding pattern masked by a mask with varying the mask pattern. Captured images of an object on which the patterns of the first and second sets are sequentially projected are inputted. A correspondence between projection coordinates of the projected pattern and image coordinates of a captured image for the projected pattern is detected. A shape of the object is derived based on correspondences.

Measurement apparatus and method thereof

A first image of a space onto which a first light pattern formed from bright and dark portions and a coordinate-detection pattern projected onto each region of the space divided by the first pattern have been projected is acquired. A second image is acquired of the space onto which a second light pattern having a boundary position between bright and dark portions that is different from that of the first pattern, and a coordinate-detection pattern projected onto each region of the space divided by the second pattern have been projected. One of the first image and the second image is selected to perform three-dimensional shape measurement of an object included in the space based on the selection image.

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Kawasaki, Japan

Tomoaki Higo