Title:
情報処理装置、情報処理方法
Document Type and Number:
Japanese Patent JP7134016
Kind Code:
B2
Abstract:
A plurality of verification position/orientation candidates for a target object is set. A common structure model including a geometric feature of a part, among geometric features of a reference model representing a three-dimensional shape of the target object, that is common among the candidates is generated. An image including the target object is obtained. A position/orientation of the target object is estimated by verifying the common structure model and the reference model arranged at the plurality of verification position/orientation candidates, against the image.
Inventors:
Fuka Yamazaki
Daisuke Kotake
Daisuke Kotake
Application Number:
JP2018151962A
Publication Date:
September 09, 2022
Filing Date:
August 10, 2018
Export Citation:
Assignee:
Canon Inc
International Classes:
G06T7/70; B25J13/08; G01B11/00; G01B11/26
Domestic Patent References:
| JP2015194478A | ||||
| JP2004259114A | ||||
| JP2015062017A |
Other References:
外山 史、外2名,“多視方向画像間の類似性と姿勢推定への応用”,電子情報通信学会技術研究報告,日本,社団法人電子情報通信学会,1999年09月17日,Vol.99, No.306,pp.61-66
K. Boehnke,"Object localization in range data for robotic bin picking",2007 IEEE International Conference on Automation Science and Engineering,米国,IEEE,2007年09月22日,pp.572-577
K. Boehnke,"Object localization in range data for robotic bin picking",2007 IEEE International Conference on Automation Science and Engineering,米国,IEEE,2007年09月22日,pp.572-577
Attorney, Agent or Firm:
Patent Business Corporation Otsuka International Patent Office
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