Patent ID: 9733339
Date: 2017-08-15
CPC Classifications: G01S,G06K,G06T

Claim:
1. An apparatus comprising: a processor; and a memory containing instructions that, when executed by the processor, perform operations of: a three-dimensional information obtaining unit configured to obtain range information of a surface of an object, which is measured by an active range sensor; an obtaining unit configured to obtain a plurality of edge features representing a shape of the object from an image including the object; an associating unit configured to associate a plurality of geometric features which are features on a line of a three-dimensional shape model of the object with the obtained plurality of edge features respectively and a plurality of second geometric features which are features on a plane of the three-dimensional shape model of the object with the range information of the surface of the object respectively, based on an approximate position and orientation of the object; and a deriving unit configured to derive a position and orientation of the object based on a result of an association by the associating unit.