Information processing apparatus and method of controlling the same

Patent metadata

Field	Value
Publication number	US-11037325-B2
Application number	US-202016779997-A
Country	US
Kind code	B2
Filing date	Feb 3, 2020
Priority date	Jan 6, 2017
Publication date	Jun 15, 2021
Grant date	Jun 15, 2021

Abstract

An information processing apparatus has a hold unit for holding a plurality of features of a physical space as a plurality of held features, each of the plurality of held features being related with a position in a first image captured by an image capturing apparatus at a first time, and information of an availability for a position/orientation calculation of the image capturing apparatus. The information processing apparatus associates a plurality of detected features, which are detected in a second image captured by the image capturing apparatus at a second time after the first time, with the plurality of held features, and, based on the availabilities related with the associated held features, adjusts a detected feature, among the plurality of detected features, to be used in the calculation of the position/orientation of the image capturing apparatus.

First claim

What is claimed is:

1. An information processing apparatus comprising:
at least one memory storing a program; and
one or more processors which, by executing the program, function as:
a recognition unit configured to recognize a moving object included in an image captured by an image capturing apparatus by inputting the image to a learning model for determining a type of an object; and
a first determining unit configured to determine, based on a result of the recognition unit, an availability for a position calculation of the image capturing apparatus corresponding to a feature point indicating the moving object among feature points detected from the image, and determine the availability corresponding to a feature point indicating an object that is not the moving object among the detected feature points.

2. The information processing apparatus according to claim 1 , wherein the first determining unit reduces the availability corresponding to a feature point indicating the moving object.

3. The information processing apparatus according to claim 2 , wherein the feature point is a point representing a geometric structure in the image, and
the at least one processor further function as a second determining unit configured to determine a position of a feature point detected from the image by associating the feature point detected from the image with a feature point detected from another image captured before the image.

4. The information processing apparatus according to claim 3 , wherein the at least one processor further function as a calculating unit configured to calculate a position of the image capturing apparatus based on a position of the feature point, determined by the second determining unit, selected based on the availability determined by the first determining unit.

5. The information processing apparatus according to claim 4 , wherein the calculating unit calculates the position of the image capturing apparatus based on the position of the feature point whose availability is larger than a predetermined threshold value.

6. The information processing apparatus according to claim 4 , wherein the calculating unit calculates the position of the image capturing apparatus based on the positions of a predetermined number of feature points determined by the second determining unit, wherein the predetermined number of feature points are selected in descending order of the determined availability from among the feature points.

7. The information processing apparatus according to claim 4 , wherein the calculating unit divides the image into regions, and for each of the regions, the calculating unit selects a predetermined number of feature points in descending order of the availability, and calculates a position of the image capturing apparatus based on positions of the selected feature points determined by the second determining unit.

8. The information processing apparatus according to claim 4 , wherein the calculating unit calculates a position of a head mount display including the image capturing apparatus.

9. The information processing apparatus according to claim 4 , wherein the calculating unit calculates a position of a robot including the image capturing apparatus.

10. The information processing apparatus according to claim 1 , wherein the moving object is a person.

Assignees

• Canon Kk

Inventors

• Tomioka Makoto
• Kotake Daisuke
• Kasuya Nozomu

Classifications

• G06V10/75

  Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries · CPC title

• G06F18/22

  Matching criteria, e.g. proximity measures · CPC title

• G06V10/147

  Details of sensors, e.g. sensor lenses (fingerprint or palmprint sensors G06V40/13; vascular sensors G06V40/145; eye sensors G06V40/19) · CPC title

• G06V10/40

  Extraction of image or video features · CPC title

• G06V20/20

  in augmented reality scenes · CPC title