APPARATUS, METHOD, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM FOR STORING PROGRAM FOR POSITION AND ORIENTATION ESTIMATION
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United States of America Patent
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Oct 6, 2017
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Oct 31, 2016
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Abstract
An apparatus for position and orientation estimation executes a process for detecting first point group indicating an object body based on model data of the object body from three-dimensional point group, a process for generating a pattern group including a plurality of second point group respectively representing patterns in which a position and an orientation of the model data are respectively changed at a position of the first point group, a process for converting the first point group and the second point group of the patterns of the pattern group into distance images, a process for comparing the distance image of the first point group with each of the distance images of the second point group of the patterns of the pattern group, and a process for selecting one of the distance images of the second point group of the patterns based on a result of the comparing.
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