Canon Kabushiki Kaisha

Yutaka Niwayama

Daisuke Watanabe

Hiroshi Okazaki

A technique is provided, with which, even for an object which has a shape prone to be erroneously recognized and for which it is difficult to generate an initial value expected to produce a true value through fitting, it is possible to generate an appropriate initial value candidate through intuitive input and reduce erroneous recognition. An information processing apparatus includes a model acquiring unit configured to acquire a three-dimensional shape model of a target object, a display control unit configured to cause a display unit to display the three-dimensional shape model, a setting unit configured to set first and second orientations different from each other on the basis of the three-dimensional shape model displayed in the display unit, a parameter deriving unit configured to derive a transformation parameter that transforms the first orientation into the second orientation, and a storage unit configured to store the transformation parameter.

Information processing apparatus, information processing method, and program

In order to perform robust position and orientation measurement even in a situation where there are noises, an image, including a measurement target object, captured by an image capturing apparatus is acquired, a flag indicating whether any one of geometric features constituting a three-dimensional model of the measurement target object or a plurality of image features detected from the image corresponds to a shadow of the measurement target object is set, the plurality of geometric features and the plurality of image features detected from the image are associated with each other based on an approximate position and orientation of the measurement target object and the flag, and a position and orientation of the measurement target object is derived based on a result of the association by the association unit.

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Tokyo, Japan

Yutaka Niwayama