Information processing apparatus and information processing method

Patent metadata

Field	Value
Publication number	US-9437005-B2
Application number	US-201213538437-A
Country	US
Kind code	B2
Filing date	Jun 29, 2012
Priority date	Jul 8, 2011
Publication date	Sep 6, 2016
Grant date	Sep 6, 2016

Abstract

An information processing apparatus configured to estimate a position and orientation of a measuring object using an imaging apparatus includes an approximate position and orientation input unit configured to input a relative approximate position and orientation between the imaging apparatus and the measuring object, a first position and orientation updating unit configured to update the approximate position and orientation by matching a three-dimensional shape model to a captured image, a position and orientation difference information input unit configured to calculate and acquire a position and orientation difference amount of the imaging apparatus relative to the measuring object having moved after the imaging apparatus has captured an image of the measuring object or after last position and orientation difference information has been acquired, and a second position and orientation updating unit configured to update the approximate position and orientation based on the position and orientation difference amount.

First claim

What is claimed is:

1. An information processing apparatus configured to estimate a position and orientation of a measuring object, the information processing apparatus comprising at least one processor coupled to at least one memory, the at least one processor being programmed to:
store data of a three-dimensional shape model of the measuring object;
acquire a two-dimensional image of the measuring object, wherein the two-dimensional image is captured by an imaging apparatus at a first time;
acquire a relative position and orientation between the imaging apparatus and the measuring object;
update the relative position and orientation between the imaging apparatus and the measuring object by associating the three-dimensional shape model with the two-dimensional image, based on the relative position and orientation;
acquire a position and orientation difference amount of the imaging apparatus between the first time and a second time being different from the first time, wherein the relative position and orientation between the imaging apparatus and the measuring object has been changed between the first time and the second time; and
update the updated relative position and orientation between the imaging apparatus and the measuring object based on the relative position and orientation difference amount of the imaging apparatus between the first time and the second time.

2. The information processing apparatus according to claim 1 , wherein the at least one processor is further programmed to update the relative position and orientation using a non-linear time-series filter, and to update the relative position and orientation using a linear or a non-linear time-series filter.

3. The information processing apparatus according to claim 1 , wherein the at least one processor is further programmed to acquire a difference amount of at least one of a position and an orientation from information on movable axes of a robot having movable axes including at least one of a rotational axis and a translational axis.

4. The information processing apparatus according to claim 1 , wherein the at least one processor is further programmed to change the updated relative position and orientation between the imaging apparatus and the measuring object using a robot having movable axes including at least one of a rotational axis and a translational axis.

5. An information processing method for estimating a position and orientation of a measuring object, the information processing method comprising:
acquiring a two-dimensional image of the measuring object, wherein the two-dimensional image is captured by an imaging apparatus at a first time;
acquiring a relative position and orientation between the imaging apparatus and the measuring object;
updating the relative position and orientation between the imaging apparatus and the measuring object by associating a three-dimensional shape model with the two-dimensional image, based on the acquired relative position and orientation;
acquiring a position and orientation difference amount of the imaging apparatus between the first time and a second time being different from the first time, wherein the relative position and orientation between the imaging apparatus and the measuring object has been changed between the first time and the second time; and
updating the updated relative position and orientation between the imaging apparatus and the measuring object based on the relative position and orientation difference amount of the imaging apparatus between the first time and the second time.

6. A non-transitory computer-readable medium storing a program that causes a computer to perform an information processing method for estimating a position and orientation of a measuring object, the information processing method comprising:
acquiring a two-dimensional image of the measuring object, wherein the two-dimensional image is captured by an imaging apparatus at a first time;
acquiring a relative position and orientation between the imaging apparatus and the measuring object;
updating the relative position and orientation between the imaging apparatus and the measuring object by associating a three-dimensional shape model with the two-dimensional image, based on the acquired relative position and orientation;
acquiring a position and orientation difference amount of the imaging apparatus between the first time and the second time being different from the first time, wherein the relative position and orientation between the imaging apparatus and the measuring object has been changed between the first time and the second time; and
updating the updated relative position and orientation between the imaging apparatus and the measuring object based on the relative position and orientation difference amount of the imaging apparatus between the first time and the second time.

7. The information processing apparatus according to claim 1 ,
wherein the two-dimensional image is captured by the imaging apparatus which is mounted on a robot arm controlled by a robot controller, and
wherein the relative position and orientation between the imaging apparatus and the measuring object has been changed in accordance with a movement of the robot arm.

8. The information processing apparatus according to claim 1 , wherein the imaging apparatus is mounted on a robot arm.

9. An information processing apparatus configured to estimate a position and orientation of a measuring object, the information processing apparatus comprising at least one processor coupled to at least one memory, the at least one processor being programmed to:
store data of a three-dimensional shape model of the measuring object;
input range information of the measuring object, wherein the range information is obtained by a range sensor at a first time;
input a relative position and orientation between an imaging apparatus and the measuring object;
update the relative position and orientation between the imaging apparatus and the measuring object by associating the three-dimensional shape model with the range information, based on the input relative position and orientation;
acquire a position and orientation difference amount of the imaging apparatus between the first time and a second time being different from the first time, wherein the relative position and orientation between the imaging apparatus and the measuring object has been changed between the first time and the second time; and
update the updated relative position and orientation between the imaging apparatus and the measuring object based on the relative position and orientation difference amount of the imaging apparatus between the first time and the second time.

10. The information processing apparatus according to claim 9 ,
wherein the range information is obtained by a range sensor which is mounted on a robot arm controlled by a robot controller, and
wherein the relative position and orientation between the imaging apparatus and the measuring object has been changed in accordance with a movement of the robot arm.

11. The information processing apparatus according to claim 9 , wherein the imaging apparatus is mounted on a robot arm.

12. An information processing method for estimating a position and orientation of a measuring object, the information processing method comprising:
inputting range information of the measuring object, wherein the range information is obtained by a range sensor at a first time;
inputting a relative position and orientation between an imaging apparatus and the measuring object;
updating the relative position and orientation between the imaging apparatus and the measuring object by associating a stored

Assignees

• Tateno Keisuke
• Kotake Daisuke
• Uchiyama Shinji
• Canon Kk

Inventors

• Tateno Keisuke
• Kotake Daisuke
• Uchiyama Shinji

Classifications

• G05B2219/40548

  Compare measured distances to obstacle with model of environment · CPC title

• G01B11/002

  for measuring two or more coordinates · CPC title

• B25J9/1697 Primary

  Vision controlled systems · CPC title

• G06T2207/10021

  Stereoscopic video; Stereoscopic image sequence · CPC title

• G06T7/75

  involving models · CPC title