Patent ID: 9025857
Filing Date: 2015-05-05
Classification: G01B,G06T

Abstract:
1. An apparatus comprising: an input unit configured to input an approximate position and orientation of a measurement object; an acquisition unit configured to acquire a three-dimensional shape model of the measurement object; a generation unit configured to generate mask information which indicates a surface of the measurement object based on the approximate position and orientation of the measurement object and the three-dimensional shape model of the measurement object; a determination unit configured to determine a distance measurement region on the measurement object based on the mask information; an illumination unit configured to irradiate the determined distance measurement region on the measurement object with a predetermined illumination pattern; an image sensing unit configured to sense an image of the measurement object while said illumination unit irradiates the measurement object; a calculation unit configured to calculate three-dimensional coordinate information of the measurement object based on a first region corresponding to the distance measurement region within the sensed image; a detection unit configured to detect an image feature from a second region within the sensed image, wherein the second region is different from the first region; a first association unit configured to associate the detected image feature with a first feature of the three-dimensional shape model having the approximate position and orientation; a second association unit configured to associate the three-dimensional coordinate information with a second feature of the three-dimensional shape model having the approximate position and orientation, wherein the second feature is different from the first feature; and a position and orientation calculation unit configured to calculate a position and orientation of the measurement object based on the association results by said first and second association units.