Method for generating training data used to learn machine learning model, system, and non-transitory computer-readable storage medium storing computer program

Abstract

A method includes: (a) executing prior learning of the machine learning model, using simulation data of an object; (b) capturing a first image of the object from a first direction of image capture; (c) recognizing a first position and attitude of the object from the first image, using the machine learning model already learned through the prior learning; (d) performing a correctness determination about the first position and attitude; (e) capturing a second image of the object from a second direction of image capture that is different from the first direction of image capture when it is determined that the first position and attitude is correct, then converting the first position and attitude according to a change from the first direction of image capture to the second direction of image capture and thus calculating a second position and attitude, and assigning the second position and attitude to the second image and thus generating training data; and (f) changing an actual position and attitude of the object and repeating the (b) to (e).