Information processing apparatus, information processing method, and storage medium

Patent metadata

Field	Value
Publication number	US-10288418-B2
Application number	US-201615187381-A
Country	US
Kind code	B2
Filing date	Jun 20, 2016
Priority date	Jun 23, 2015
Publication date	May 14, 2019
Grant date	May 14, 2019

Abstract

To decrease the time and work needed for the measurement of a target object, an information processing apparatus includes an acquisition unit configured to acquire measurement data on a target object from a measuring apparatus, an extraction unit configured to extract a partial region of the target object that contains a geometric feature for use in estimation of a position-and-orientation of the target object, based on one or more pieces of measurement data acquired by the acquisition unit, a determination unit configured to determine a position-and-orientation of the measuring apparatus configured to measure the partial region extracted by the extraction unit, and an output unit configured to output the position-and-orientation determined by the determination unit.

First claim

What is claimed is:

1. An information processing apparatus comprising:
one or more memories storing instructions; and
one or more processors which, when executing the instructions, causes the apparatus to:
acquire image data on a target object from an imaging apparatus;
calculate a necessity of being imaged for generating a shape model for use in estimation of a position-and-orientation of the target object, for each of a plurality of regions of the acquired image data;
extract a region of interest from the plurality of regions of the acquired image data, based on the necessity calculated for each of the plurality of regions;
determine a position-and-orientation of the imaging apparatus so as to capture an image of the region of interest;
change a relative position-and-orientation of the target object and the imaging apparatus to the determined position-and-orientation;
register two or more pieces of the acquired image data;
generate a shape model for use in estimation of a position-and-orientation of the target object from the registered image data; and
output the determined position-and-orientation.

2. The information processing apparatus according to claim 1 , wherein the one or more processors causes the apparatus to extract a partial region of the image data, of which the necessity is larger than a set value.

3. The information processing apparatus according to claim 2 , wherein the one or more processors causes the apparatus to extract a partial region of the image data, of which a feature amount relating to a dispersion of a three-dimensional point group of the image data is larger than a set value.

4. The information processing apparatus according to claim 1 , wherein the one or more processors causes the apparatus to associate a geometric feature with a shape model that is generated from one or more pieces of image data and is for use in estimation of a position-and-orientation of the target object, and extract a region containing a geometric feature for which no corresponding shape model is found.

5. The information processing apparatus according to claim 1 , wherein the one or more processors causes the apparatus to generate a plurality of candidates for a position-and-orientation of the imaging apparatus, calculate an evaluation value based on one or more pieces of acquired image data, and determine, based on the evaluation value, a next measurement position-and-orientation of the imaging apparatus from the plurality of candidates for the position-and-orientation.

6. The information processing apparatus according to claim 5 , wherein, based on one or more pieces of acquired image data or a shape model that is generated from two or more pieces of acquired image data and is for use in estimation of a position-and-orientation of the target object, the one or more processors causes the apparatus to calculate an evaluation value indicating ease of registration of observable image data and imaged data, and determine, based on the evaluation value, a next measurement position-and-orientation of the imaging apparatus from the plurality of candidates for the position-and-orientation.

7. The information processing apparatus according to claim 1 , wherein the one or more processors causes the apparatus to generate a plurality of candidates for a position-and-orientation of the imaging apparatus, calculate an evaluation value based on the partial region extracted by the extraction unit, and determine, based on the evaluation value, a next measurement position-and-orientation of the imaging apparatus from the plurality of candidates for the position-and-orientation.

8. The information processing apparatus according to claim 1 , wherein the one or more processors causes the apparatus to acquire a range image as the measurement data on the target object from the imaging apparatus.

9. The information processing apparatus according to claim 1 , wherein the one or more processors causes the apparatus to acquire a grayscale image as the image data on the target object from the imaging apparatus.

10. An information processing method to be executed by an information processing apparatus, the method comprising:
acquiring image data on a target object from an imaging apparatus;
calculating a necessity of being imaged for generating a shape model for use in estimation of a position-and-orientation of the target object, for each of a plurality of regions of the acquired image data;
extracting a region of interest from the plurality of regions of the acquired image data, based on the necessity calculated for each of the plurality of regions;
determining a position-and-orientation of the imaging apparatus so as to capture an image of the region of interest;
changing a relative position-and-orientation of the target object and the imaging apparatus to the determined position-and-orientation;
registering two or more pieces of the acquired image data;
generating a shape model for use in estimation of a position-and-orientation of the target object from the registered image data; and
outputting the determined position-and-orientation.

11. A non-transitory storage medium storing a program that causes a computer to execute a method comprising:
acquiring image data on a target object from an imaging apparatus;
calculating a necessity of being imaged for generating a shape model for use in estimation of a position-and-orientation of the target object, for each of a plurality of regions of the acquired image data;
extracting a region of interest from the plurality of regions of the acquired image data, based on the necessity calculated for each of the plurality of regions;
determining a position-and-orientation of the imaging apparatus so as to capture an image of the region of interest;
changing a relative position-and-orientation of the target object and the imaging apparatus to the determined position-and-orientation;
registering two or more pieces of the acquired image data;
generating a shape model for use in estimation of a position-and-orientation of the target object from the registered image data; and
outputting the determined position-and-orientation.

12. The information processing apparatus according to claim 1 , wherein the one or more processors cause the apparatus to calculate an amount of geometric features or density of geometric features on the partial region, as the necessity.

13. The information processing apparatus according to claim 1 , wherein the one or more processors cause the apparatus to calculate an area in the partial region in which no corresponding shape model is found, as the necessity.

Assignees

• Canon Kk

Inventors

• Nakazato Yusuke
• Kobayashi Kazuhiko

Classifications

• G06T7/75

  involving models · CPC title

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title

• G06T2207/30244

  Camera pose · CPC title

• G06T7/13

  Edge detection · CPC title

• G01B11/26 Primary

  for measuring angles or tapers; for testing the alignment of axes · CPC title