Information processing apparatus, processing method thereof, and computer-readable storage medium

1. An information processing apparatus that calculates information on a position and an orientation of an image capture device relative to an object captured by the image capture device, the information processing apparatus comprising:

a holding unit configured to hold three-dimensional information including a plurality of line segments that constitute the object;

an acquisition unit configured to acquire an image of the object captured by the image capture device;

a detection unit configured to detect a line segment from the image acquired by the acquisition unit;

a determination unit configured to make a determination, for each of the line segments held by the holding unit, whether to use the line segment in a calculation of the position and orientation, based on the detected line segment and the line segments held by the holding unit; and

a calculation unit configured to calculate a position and orientation of the image capture device based on correspondence between the line segment detected by the detection unit and the line segment, determined to be used by the determination unit, of the plurality of line segments held by the holding unit.

2. The information processing apparatus according to claim 1 , wherein the detection unit detects the line segment from a plurality of images acquired by the acquisition unit, and

the determination unit makes the determination based on at least one of a result of detection of the line segment detected from the plurality of images by the detection unit, and the information acquired in the calculation of the position and orientation by the calculation unit.

3. The information processing apparatus according to claim 2 , wherein the detection unit detects, from the image, a line segment corresponding to each of the line segments held by the holding unit, and

the determination unit makes the determination based on a detection rate of the corresponding line segment from the image for each of the held line segments by the detection unit.

4. The information processing apparatus according to claim 3 , wherein the determination unit determines that, in a case in which the detection rate is smaller than a predetermined threshold, a line segment that corresponds thereto held by the holding unit is not used for the calculation of the position and orientation thereafter.

5. The information processing apparatus according to claim 1 , wherein the detection unit provides a dividing point at a predetermined interval to each of the line segments held by the holding unit, and detects a corresponding line segment from the image by searching for a corresponding point that corresponds to the dividing point, and the determination unit makes the determination based on a detection rate of the corresponding point for the dividing point of each of the line segments by the detection unit.

6. The information processing apparatus according to claim 5 , wherein the determination unit determines that, in a case in which the detection rate is smaller than a predetermined threshold, a line segment that corresponds thereto held by the holding unit is not used for the calculation of the position and orientation thereafter.

7. The information processing apparatus according to claim 1 , wherein the determination unit makes the determination based on a magnitude of an error that indicates a gap of the position calculated by the calculation unit, the gap being generated due to correspondence between the line segment detected by the detection unit, and the line segment held by the holding unit.

8. The information processing apparatus according to claim 1 , further comprising:

a presentation unit configured to present to a user a result of the determination made by the determination unit; and

an input unit configured to input whether the user approves based on the result of the determination presented by the presentation unit.

9. A processing method of an information processing apparatus that calculates information on a position and an orientation of an image capture device relative to an object captured by the image capture device, the method comprising:

an acquisition step of acquiring an image of the object captured by the image capture device;

a detection step of detecting a line segment from the image acquired in the acquisition step;

a determination step of making a determination, for each of the line segments held by the holding unit, whether to use the line segment in a calculation of the position and orientation, based on the detected line segment and the line segments held by a holding unit; and

a calculation step of calculating a position and orientation of the image capture device based on correspondence between the line segment detected in the detection step and the line segment, determined to be used in the determination step, of the plurality of line segments held by the holding unit.

10. A computer-readable storage medium storing a computer program that causes a computer provided in an information processing apparatus that calculates information on a position and an orientation of an image capture device relative to an object captured by the image capture device, to function as:

a holding unit configured to hold three-dimensional information including a plurality of line segments that constitute the object;

an acquisition unit configured to acquire an image of the object captured by the image capture device;

a detection unit configured to detect a line segment from the image acquired by the acquisition unit;

a determination unit configured to make a determination, for each of the line segments held by the holding unit, whether to use the line segment in a calculation of the position and orientation, based on the detected line segment and the line segments held by the holding unit; and

a calculation unit configured to calculate a position and orientation of the image capture device based on correspondence between the line segment detected by the detection unit and the line segment, determined to be used by the determination unit, of the plurality of line segments held by the holding unit.

11. An information processing apparatus that calculates information on a position and an orientation of an image capture device relative to an object captured by the image capture device, the information processing apparatus comprising:

a holding unit configured to hold three-dimensional information including a plurality of line segments that constitute the object;

an acquisition unit configured to acquire an image of the object captured by the image capture device;

a detection unit configured to detect an image feature indicating a line segment from the image acquired by the acquisition unit;

a calculation unit configured to calculate a position and orientation of the image capture device based on correspondence between the image feature indicating the line segment detected by the detection unit and the line segment held by the holding unit; and

a determination unit configured to make a determination, for each of the line segments held by the holding unit, whether to use the line segment for the calculation of the position and orientation thereafter, based on at least one of a result of detection of the image feature by the detection unit, and information acquired in the calculation of the position and the orientation by the calculation unit,

wherein the detection unit detects the image feature indicating the line segment from a plurality of images acquired by the acquisition unit,

the determination unit makes the determination based on at least one of a result of detection of the image feature detected from the plurality of images by the detection unit, and the information acquired in the calculation of the position and orientation by the calculation unit,

the detection unit detects, from the image, the image feature indicating a line segment corresponding to each of the line segments held by the holding unit, and

the determination unit makes the determination based on a detection rate of the image feature indicating the corresponding line segment from the image for each of the held line segments by the detection unit.

12. The information processing apparatus according to claim 11 , wherein the determination unit determines that, in a case in which the detection rate is smaller than a predetermined threshold, a line segment that corresponds thereto held by the holding unit is not used for the calculation of the position and orientation thereafter.

13. The information processing apparatus according to claim 11 , wherein the detection unit provides a dividing point at a predetermined interval to each of the line segments held by the holding unit, and detects an image feature indicating a corresponding line segment from the image by searching for a corresponding point that corresponds to the dividing point, and the determination unit makes the determination based on a detection rate of the corresponding point for the dividing point of each of the line segments by the detection unit.

14. The information processing apparatus according to claim 13 , wherein the determination unit determines that, in a case in which the detection rate is smaller than a predetermined threshold, a line segment that corresponds thereto held by the holding unit is not used for the calculation of the position and orientation thereafter.

15. The information processing apparatus according to claim 11 , wherein the determination unit makes the determination based on a magnitude of an error that indicates a gap of the position calculated by the calculation unit, the gap being generated due to correspondence between the image feature indicating the line segment detected by the detection unit, and the line segment held by the holding unit.

16. The information processing apparatus according to claim 11 , further comprising:

a presentation unit configured to present to a user a result of the determination made by the determination unit; and

an input unit configured to input whether the user approves based on the result of the determination presented by the presentation unit.

17. A processing method of an information processing apparatus that calculates information on a position and an orientation of an image capture device relative to an object captured by the image capture device, the method comprising:

an acquisition step of acquiring an image of the object captured by the image capture device;

a detection step of detecting an image feature indicating a line segment from the image acquired in the acquisition step;

a calculation step of calculating a position and orientation of the image capture device based on correspondence between the image feature indicating the line segment detected in the detection step and a plurality of line segments, in three-dimensional information, that constitute the object held by a holding unit; and

a determination step of making a determination, for each of the line segments held by the holding unit, whether to use the line segment for the calculation of the position and orientation thereafter, based on at least one of a result of detection of the image feature in the detection step, and information acquired in the calculation of the position and orientation in the calculation step,

wherein the detection step detects the image feature indicating the line segment from a plurality of images acquired in the acquisition step,

the determination step makes the determination based on at least one of a result of detection of the image feature detected from the plurality of images in the detection step, and the information acquired in the calculation of the position and orientation in the calculation step,

the detection step detects, from the image, the image feature indicating a line segment corresponding to each of the line segments held in the holding step, and

the determination step makes the determination based on a detection rate of the image feature indicating the corresponding line segment from the image for each of the held line segments in the detection step.

18. A computer-readable storage medium storing a computer program that causes a computer provided in an information processing apparatus that calculates information on a position and an orientation of an image capture device relative to an object captured by the image capture device, to function as:

a holding unit configured to hold three-dimensional information including a plurality of line segments that constitute the object;

an acquisition unit configured to acquire an image of the object captured by the image capture device;

a detection unit configured to detect an image feature indicating a line segment from the image acquired by the acquisition unit;

a calculation unit configured to calculate a position and orientation of the image capture device based on correspondence between the image feature indicating the line segment detected by the detection unit and the line segment held by the holding unit; and

a determination unit configured to make a determination, for each of the line segments held by the holding unit, whether to use the line segment for the calculation of the position and orientation thereafter, based on at least one of a result of detection of the image feature by the detection unit, and information acquired in the calculation of the position and the orientation by the calculation unit,

wherein the detection unit detects the image feature indicating the line segment from a plurality of images acquired by the acquisition unit,

the determination unit makes the determination based on at least one of a result of detection of the image feature detected from the plurality of images by the detection unit, and the information acquired in the calculation of the position and orientation by the calculation unit,

the detection unit detects, from the image, the image feature indicating a line segment corresponding to each of the line segments held by the holding unit, and

the determination unit makes the determination based on a detection rate of the image feature indicating the corresponding line segment from the image for each of the held line segments by the detection unit.