Information processing apparatus, robot system, information processing method and program

1. An apparatus, comprising:

an input unit configured to input a captured image of a target;

a generation unit configured to generate a plurality of conversion images based on the captured image;

a detection unit configured to detect edges in the plurality of conversion images;

a determination unit configured to determine reliability of a plurality of edges detected in corresponding regions of the conversion images and the captured image based on sharpness of luminance gradient values in the vicinity of the edges; and

a selection unit configured to select one of the edges for each region in the captured image based on the determined reliability.

2. The apparatus according to claim 1 , further comprising:

a storage unit configured to store an edge of the target; and

a comparison unit configured to compare the selected edge with the stored edge to obtain a position and orientation of the target.

3. The apparatus according to claim 1 , wherein the generation unit generates a plurality of conversion images by changing a size of the captured image in different magnifications.

4. The apparatus according to claim 3 , further comprising a setting unit configured to set the different magnifications.

5. The apparatus according to claim 4 , wherein the setting unit sets the different magnifications based on a user operation performed through a screen.

6. The apparatus according to claim 1 , wherein the generation unit performs transform a plurality of times for debluring on the captured image to generate the plurality of conversion images.

7. A robot system, comprising:

the apparatus according to claim 1 ;

an imaging unit configured to capture an image of a target; and

a holding unit configured to perform a holding operation on the target.