The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 25, 2019
Filed:
Mar. 31, 2016
Canon Kabushiki Kaisha, Tokyo, JP;
Yutaka Niwayama, Tokyo, JP;
Canon Kabushiki Kaisha, Tokyo, JP;
Abstract
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.