US Patent No. 9,437,005

INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING METHOD


Patent No. 9,437,005
Issue Date September 06, 2016
Title Information Processing Apparatus And Information Processing Method
Inventorship Keisuke Tateno, Kawasaki (JP)
Daisuke Kotake, Yokohama (JP)
Shinji Uchiyama, Yokohama (JP)
Assignee Canon Kabushiki Kaisha, Tokyo (JP)

Claim of US Patent No. 9,437,005

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.