Information processing apparatus, method therefor, measurement apparatus, and working apparatus for estimating a position/orientation of a three-dimensional object based on relative motion

摘要

A shape model of an object to be measured is held. An image of the object obtained by a first device is inputted. Range information obtained by a second device is inputted, and the range information indicates surface positions of the object. A first degradation degree of the image caused by relative motion between the object and the first device, and a second degradation degree of the range information caused by relative motion between the object and the second device are estimated. A position and/or orientation of the object is estimated based on the image and/or range information, the shape model, and the first and second degradation degrees.