Position and orientation measurement device and position and orientation measurement method

Patent metadata

Field	Value
Publication number	US-9519971-B2
Application number	US-201113323504-A
Country	US
Kind code	B2
Filing date	Dec 12, 2011
Priority date	Dec 14, 2010
Publication date	Dec 13, 2016
Grant date	Dec 13, 2016

Abstract

A position and orientation measurement device includes a grayscale image input unit that inputs a grayscale image of an object, a distance image input unit that inputs a distance image of the object, an approximate position and orientation input unit that inputs an approximate position and orientation of the object with respect to the position and orientation measurement device, and a position and orientation calculator that updates the approximate position and orientation. The position and orientation calculator calculates a first position and orientation so that an object image on an image plane and a projection image of the three-dimensional shape model overlap each other, associates the three-dimensional shape model with the image features of the grayscale image and the distance image, and calculates a second position and orientation on the basis of a result of the association.

First claim

What is claimed is:

1. A position and orientation measurement device that measures a position and orientation of an object to be measured, the device comprising:
a processor; and
a memory containing instructions that, when executed by the processor, perfom operations as:
a storage unit configured to store a three-dimensional shape model of the object;
a two-dimensional image input unit configured to input a two-dimensional image representing the object;
a distance image input unit configured to input a distance image sensed by a distance sensor, which indicates a distance from the distance sensor to the object;
an approximate position and orientation input unit configured to input an approximate position and orientation of the object; and
a position and orientation calculation unit configured to calculate, a first position and orientation of the object by associating the three-dimensional shape model with the two-dimensional image based on the approximate position and orientation of the object and thereafter calculate a second position and orientation of the object by associating the three-dimensional shape model with both the two-dimensional image and the distance image based on the first position and orientation.

2. The position and orientation measurement device according to claim 1 , wherein the position and orientation calculation unit calculates the first position and orientation of the object by updating a component in six freedoms representing an approximate position and orientation based on the two-dimensional image.

3. The position and orientation measurement device according to claim 2 , wherein the component includes a position perpendicular to an optical axis of a camera of the position and orientation measurement device and an orientation around the optical axis.

4. The position and orientation measurement device according to claim 1 , wherein the approximate position and orientation input unit inputs a position and orientation of the object obtained from information of at least one of the two-dimensional image and the distance image by a calculation method that does not require an initial value of the position and orientation as an approximate position and orientation.

5. The position and orientation measurement device according to claim 1 , wherein the position and orientation calculation unit calculates a position corresponding to a distance from the position and orientation measurement device in the position and orientation by using information of the distance image before deriving the first position and orientation.

6. The position and orientation measurement device according to claim 1 , wherein image features in the two-dimensional image used in measuring the position and orientation of the object are edges.

7. The position and orientation measurement device according to claim 1 , wherein image features in the two-dimensional image used in measuring the position and orientation of the object are feature points.

8. A position and orientation measurement method by a position and orientation measurement device that measures position and orientation of an object to be measured, the method comprising:
a storage step for storing a three-dimensional shape model of the object;
a two-dimensional image input step for inputting a two-dimensional image representing the object;
a distance image input step for inputting a distance image sensed by a distance sensor, which indicates a distance from the distance sensor to the object;
an approximate position and orientation input step for inputting an approximate position and orientation of the object;
a position and orientation calculation step for calculating, without using the distance image, a first position and orientation of the object by associating the three-dimensional shape model with the two-dimensional image based on the approximate position and orientation of the object and for thereafter calculating a second position and orientation of the object by associating the three-dimensional shape model with both the two-dimensional image of the object and the distance image based on the first position and orientation.

9. The device according to claim 1 , further comprising:
a two-dimensional image capturing unit configured to sense a two-dimensional image of the object.

10. The device according to claim 1 , further comprising:
the distance sensor which senses the distance image.

11. A non-transitory storage medium having instructions that, when executed by a processor, cause the processor to perform operations comprising:
storing a three-dimensional shape model of the object;
inputting a two-dimensional image representing of the object;
inputting a distance image sensed by a distance sensor, which indicates a distance from the distance sensor to the object;
inputting an approximate position and orientation of the object;
calculating, without using the distance image, a first position and orientation of the object by associating the three-dimensional shape model with the two-dimensional image based on the approximate position and orientation of the object, and
calculating a second position and orientation of the object by associating the three-dimensional shape model with both the two-dimensional image and the distance image based on the first position and orientation.

12. The position and orientation measurement device according to claim 1 , wherein the position and orientation calculation unit calculates the first position and orientation of the object by associating the three-dimensional shape model with a feature of the two-dimensional image of the object using the approximate position and orientation of the object and derives a second position and orientation of the object by associating the three-dimensional shape model with a feature of the two-dimensional image of the object and a feature of the distance image of the object using the first position and orientation.

Assignees

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

Inventors

• Kotake Daisuke
• Tateno Keisuke
• Uchiyama Shinji

Classifications

• G06T2207/10028

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

• G06T2207/10004

  Still image; Photographic image · CPC title

• G06T7/0046 Primary

  Physics · mapped topic

• G06T7/75 Primary

  involving models · CPC title