发明授权
- 专利标题： Position and orientation measurement apparatus, position and orientation measurement method, and storage medium
- 专利标题（中）： 位置和方向测量装置，位置和方向测量方法以及存储介质
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申请号： US13195478申请日： 2011-08-01
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公开(公告)号： US08786700B2公开(公告)日： 2014-07-22
- 发明人: Kazuhiko Kobayashi , Shinji Uchiyama
- 申请人： Kazuhiko Kobayashi , Shinji Uchiyama
- 申请人地址： JP Tokyo
- 专利权人： Canon Kabushiki Kaisha
- 当前专利权人： Canon Kabushiki Kaisha
- 当前专利权人地址： JP Tokyo
- 代理机构： Fitzpatrick, Cella, Harper & Scinto
- 优先权： JP2010-178071 20100806
- 主分类号： G01S17/89
- IPC分类号： G01S17/89
摘要：
A position and orientation measurement apparatus comprises: a distance information obtaining unit adapted to obtain distance information of a target object captured by a capturing unit; a grayscale image obtaining unit adapted to obtain a grayscale image of the target object; a first position and orientation estimation unit adapted to estimate a position and orientation of the target object based on the information of a three-dimensional shape model and the distance information; a second position and orientation estimation unit adapted to estimate a position and orientation of the target object based on a geometric feature of the grayscale image and projection information obtained by projecting, on the grayscale image, the information of the three-dimensional shape model; and a determination unit adapted to determine whether a parameter of the capturing unit is needed to be calibrated or not, based on both a first and second estimated values.