Patent Document ID: 9639942
Application ID: 14531780
Patent Status: 1

Claim One:
1. An information processing apparatus comprising: a storage unit configured to store a first model feature representing a three-dimensional shape model of a target object and a second model feature representing a three-dimensional shape model of the target object; an acquisition unit configured to acquire an image feature from a two-dimensional image of the target object and range information of a surface of the target object, wherein the two- dimensional image represents a shape of the target object and is captured by an image capturing unit; an association unit configured to associate, based on an approximate position and orientation of the target object, the acquired image feature with the first model feature and to associate a three-dimensional point indicated by the range information with the second model feature; a first distance acquisition unit configured to acquire a first three-dimensional distance between a plane and a three-dimensional position corresponding to the associated first model feature, wherein the plane is obtained based on a viewpoint position of the image capturing unit, a two-dimensional position of the associated image feature on the two- dimensional image, and a direction of the associated image feature; a second distance acquisition unit configured to acquire a second three-dimensional distance between a three-dimensional position of the associated three-dimensional point and a three-dimensional position of the associated second model feature set at the approximate position and orientation in the three-dimensional space; and a position and orientation derivation unit configured to derive a position and orientation of the target object based on the acquired first three-dimensional distance and the acquired second three-dimensional distance, wherein the acquisition unit, association unit, first distance acquisition unit, second distance acquisition unit, and position and orientation derivation unit are implemented by at least one processor in the information processing apparatus.