Patent ID: 9519971
Filing Date: 2016-12-13
CPC Classification: G06T

Claim Text:
1. A position and orientation measurement device that measures a position and orientation of an object to be measured, the device comprising: a processor; and a memory containing instructions that, when executed by the processor, perfom operations as: a storage unit configured to store a three-dimensional shape model of the object; a two-dimensional image input unit configured to input a two-dimensional image representing the object; a distance image input unit configured to input a distance image sensed by a distance sensor, which indicates a distance from the distance sensor to the object; an approximate position and orientation input unit configured to input an approximate position and orientation of the object; and a position and orientation calculation unit configured to calculate, a first position and orientation of the object by associating the three-dimensional shape model with the two-dimensional image based on the approximate position and orientation of the object and thereafter calculate a second position and orientation of the object by associating the three-dimensional shape model with both the two-dimensional image and the distance image based on the first position and orientation.