APPARATUS FOR GENERATING POSITION-AND-ORIENTATION ESTIMATION MODEL, POSITION AND ORIENTATION CALCULATION DEVICE, IMAGE PROCESSOR, AND METHOD FOR THE SAME

摘要

PROBLEM TO BE SOLVED: To generate a position-and-orientation estimation model including surface information that can accommodate an object having a hidden surface or a curved surface.;SOLUTION: To estimate a position and orientation of an image pickup device relative to an object to be observed, an apparatus for generating a position-and-orientation estimation three-dimensional model includes: a depth image acquisition means configured to obtain a depth image storing a distance between a certain point and an object to be observed per pixel with three-dimensional information representing a shape of the object to be observed, a point group generation means configured to generate three-dimensional point group data representing the shape of the object to be observed based on the depth image obtained by the depth image acquisition means, and a model generation means configured to generate a position-and-orientation estimation three-dimensional model based on the three-dimensional point group data.;COPYRIGHT: (C)2010,JPO&INPIT