Information processing apparatus, information processing method and storage medium
There is provided with an information processing apparatus. An image including a target object is acquired. A coarse position and orientation of the target object is acquired. Information of a plurality of models which indicate a shape of the target object with different accuracy is held. A geometrical feature of the target object in the acquired image is associated with a geometrical feature indicated by at least one of the plurality of models placed at the coarse position and orientation. A position and orientation of the target object is estimated based on the result of association.
1. An information processing apparatus comprising:
an image acquisition unit configured to acquire an image including a target object;
a position and orientation unit configured to acquire a coarse position and orientation of the target object;
a holding unit configured to hold information of a plurality of models, each of which indicate a shape of the same target object, wherein each of the plurality of models indicate the shape of the target object with different accuracies;
an associating unit configured to associate a geometrical feature of the target object in the acquired image with a geometrical feature indicated by at least one of the plurality of models placed at the coarse position and orientation; and
an estimation unit configured to estimate a position and orientation of the target object based on the result of association.
2. The information processing apparatus according to claim 1 , wherein the associating unit is further configured to select a model out of the plurality of models in accordance with a predetermined condition, and to associate the geometrical feature of the target object and the geometrical feature indicated by the selected model.
3. The information processing apparatus according to claim 2 , wherein the associating unit comprises a selection unit configured to select a model out of the plurality of models based on comparison between an index value calculated while repeating the estimation and a threshold, and
the estimation unit comprises:
a unit configured to place the selected model at the coarse position and orientation or the estimated position and orientation, and to obtain a distance between each geometrical feature on a surface of the target object and a corresponding geometrical feature indicated by the selected model; and
a unit configured to estimate a position and orientation based on the distance obtained for each geometrical feature on the surface of the target object.
4. The information processing apparatus according to claim 3 , wherein the selection unit is further configured to select a model out of the plurality of models based on a degree of matching with the target object, and
the estimation unit further comprises a unit configured to obtain the degree of matching based on a distance between each of geometrical features on the surface of the target object and a corresponding geometrical feature indicated by the selected model placed at the estimated position and orientation.
5. The information processing apparatus according to claim 3 , wherein the selection unit is further configured to select a model out of the plurality of models based on the number of times of execution of the estimation.
6. The information processing apparatus according to claim 3 , wherein the selection unit is further configured to select a model out of the plurality of models based on a difference in position between the coarse position before the estimation and the estimated position after the estimation.
7. The information processing apparatus according to claim 3 , wherein the selection unit is further configured to select a model out of the plurality of models based on a difference in orientation between the coarse orientation before the estimation and the estimated orientation after the estimation.
8. The information processing apparatus according to claim 2 , wherein the estimation unit comprises:
a selection unit configured to select, for each region of the target object, one of a parametric curved surface model approximating a shape of the region with a parametric curved surface, and a polygon model approximating the shape of the region with polygons, based on an approximation difference of the polygon model relative to the parametric curved surface model;
a unit configured to place the selected model for each region of the target object at the coarse position and orientation, and to obtain a distance between each geometrical feature on a surface of the target object and a corresponding geometrical feature indicated by the selected model, and
a unit configured to estimate a position and orientation based on the distance obtained for each geometrical feature on the surface of the target object.
9. The information processing apparatus according to claim 2 , wherein the estimation unit comprises:
a selection unit configured to select, for each region of the target object, one of a parametric curved surface model approximating a shape of the region with a parametric curved surface, and a polygon model approximating the shape of the region with polygons, based on a tolerance of the shape of the target object;
a unit configured to place the selected model for each region of the target object at the coarse position and orientation, and to obtain a distance between each geometrical feature on a surface of the target object and a corresponding geometrical feature indicated by the selected model; and
a unit configured to estimate a position and orientation based on the distance obtained for each geometrical feature on the surface of the target object.
10. The information processing apparatus according to claim 2 , wherein the estimation unit comprises:
a selection unit configured to select, for each geometric feature on a surface of the target object, a polygon model approximating the shape of the target object with polygons if a residual difference with respect to the geometrical feature is not less than a threshold, and a parametric curved surface model approximating the shape of the target object with a parametric curved surface if the residual difference is less than the threshold;
a computation unit configured to place the selected model regarding the geometrical feature at the coarse position and orientation, and to obtain a distance between the geometrical feature and a corresponding geometrical feature of the placed model;
a modification unit configured to modify the coarse position and orientation based on the distance obtained for each geometrical feature on a surface of the target object; and
a unit configured to place the selected model for each geometrical feature on a surface of the target object at the modified coarse position and orientation, and to obtain a distance between the geometrical feature and a corresponding geometrical feature of the selected model as the residual difference with respect to the geometrical feature.
11. The information processing apparatus according to claim 1 , wherein the holding unit is further configured to hold information of a first model and a second model associated with each region of the target object, wherein the second model is more precise than the first model, and
the associating unit further comprises a specifying unit configured to specify a geometrical feature of the first model, by associating a geometrical feature of the target object in the image with a geometrical feature of the first model placed at the coarse position and orientation, and
the associating unit is further configured to associate a geometrical feature of a second model, which is associated with the specified geometrical feature of the first model, with the geometrical feature of the target object.
12. The information processing apparatus according to claim 11 , wherein:
the first model is a polygon model; and
the second model is a piecewise parametric curved surface model.
13. The information processing apparatus according to claim 11 , wherein the specifying unit is further configured to:
calculate a distance between the geometrical feature of the target object and a corresponding geometrical feature of the first model; and
estimate a position and orientation of the target object, by using an evaluation value of the calculated distance regarding the geometrical feature for which the calculated distance is not less than a threshold, and by using a result of association using the second model regarding the geometrical feature for which the calculated distance is less than a threshold.
14. The information processing apparatus according to claim 1 , further comprising:
a unit configured to acquire an image of a target object captured from a point of view at a predetermined position; and
a unit configured to extract a geometrical feature from the captured image;
wherein the estimation unit is further configured to:
project a model selected from the plurality of models on the image based on the coarse position and orientation, wherein the plurality of model indicate a shape of the target object with different accuracy; and
estimate the position and orientation of the target object based on the extracted geometrical feature and a corresponding geometrical feature of the projected model.
15. The information processing apparatus according to claim 1 , further comprising a unit configured to transmit an instruction to a control unit configured to control a robot, wherein the instructions causes the robot to move to the estimated position and orientation.
16. An information processing method for processing data in an information processing apparatus including at least a position and orientation input unit, an associating unit, and an estimation unit, the method comprising:
acquiring an image including a target object;
acquiring a coarse position and orientation of the target object with the position and orientation input unit;
holding information, in a memory of the information processing apparatus, of a plurality of models, each of which indicate a shape of the same target object, wherein each of the plurality of models indicate the shape of the target object with different accuracies;
associating, with the associating unit, a geometrical feature of the target object in the acquired image with a geometrical feature indicated by at least one of the plurality of models placed at the coarse position and orientation; and
estimating, with the estimation unit, a position and orientation of the target object based on the result of association by the associating unit.
17. A non-transitory storage medium storing a program for instructing a computer to:
acquire an image including a target object;
acquire a coarse position and orientation of the target object;
hold information of a plurality of models which indicate a shape of the target object with different accuracy;
associate a geometrical feature of the target object in the acquired image with a geometrical feature indicated by at least one of the plurality of models placed at the coarse position and orientation; and
estimate a position and orientation of the target object based on the result of association.