Abstract: A three-dimensional measuring apparatus includes a projection unit that projects a pattern onto a subject, a plurality of image capturing units that capture images of the subject from mutually different points of view, and a processing unit that calculates a distance value to the subject by performing association using image groups captured of the subject by the plurality of image capturing units, wherein the processing unit integrates information based on a first image group that was captured by projecting the pattern onto the subject, and information based on a second image group that was captured without projecting the pattern onto the subject, into integrated images or evaluation values to be used during the association such that features of the images from both the first image group and the second image group remain, and calculates the distance value using the integrated images that have been integrated or the evaluation values.

Abstract: A technique is provided, with which, even for an object which has a shape prone to be erroneously recognized and for which it is difficult to generate an initial value expected to produce a true value through fitting, it is possible to generate an appropriate initial value candidate through intuitive input and reduce erroneous recognition. An information processing apparatus includes a model acquiring unit configured to acquire a three-dimensional shape model of a target object, a display control unit configured to cause a display unit to display the three-dimensional shape model, a setting unit configured to set first and second orientations different from each other on the basis of the three-dimensional shape model displayed in the display unit, a parameter deriving unit configured to derive a transformation parameter that transforms the first orientation into the second orientation, and a storage unit configured to store the transformation parameter.

Abstract: In order to perform robust position and orientation measurement even in a situation where there are noises, an image, including a measurement target object, captured by an image capturing apparatus is acquired, a flag indicating whether any one of geometric features constituting a three-dimensional model of the measurement target object or a plurality of image features detected from the image corresponds to a shadow of the measurement target object is set, the plurality of geometric features and the plurality of image features detected from the image are associated with each other based on an approximate position and orientation of the measurement target object and the flag, and a position and orientation of the measurement target object is derived based on a result of the association by the association unit.

Abstract: An information processing apparatus determines possibility of gripping an object by a gripping unit, obtains first information, which is information about a position and orientation of the gripping unit with respect to a part of the object, taught to grip the part, second information, which is information about symmetry of the part, third information, which is information about a position and orientation of the object to be gripped by the gripping unit, and fourth information, which is information about vicinity objects in the vicinity of the object to be gripped by the gripping unit. The information processing apparatus includes a processing unit configured to make a determination, based on the first to fourth information, on the possibility with respect to a plurality of sets of position and orientation possible for the gripping unit to take with respect to the object to be gripped based on the symmetry.

Abstract: An information processing device that calculates a position and an orientation of a target object comprises a three dimensional shape model holding unit that acquires measurement data of a shape of the target object and a shape model of the target object, and a position and orientation calculating unit that calculates a position and an orientation of the target object based on sampling information of a specific part for specifying the orientation of the target object in the shape model acquired by the three dimensional shape model holding unit and the measurement data of the shape of the target object.

Abstract: A technique is provided, with which, even for an object which has a shape prone to be erroneously recognized and for which it is difficult to generate an initial value expected to produce a true value through fitting, it is possible to generate an appropriate initial value candidate through intuitive input and reduce erroneous recognition. An information processing apparatus includes a model acquiring unit configured to acquire a three-dimensional shape model of a target object, a display control unit configured to cause a display unit to display the three-dimensional shape model, a setting unit configured to set first and second orientations different from each other on the basis of the three-dimensional shape model displayed in the display unit, a parameter deriving unit configured to derive a transformation parameter that transforms the first orientation into the second orientation, and a storage unit configured to store the transformation parameter.

Abstract: In order to perform robust position and orientation measurement even in a situation where there are noises, an image, including a measurement target object, captured by an image capturing apparatus is acquired, a flag indicating whether any one of geometric features constituting a three-dimensional model of the measurement target object or a plurality of image features detected from the image corresponds to a shadow of the measurement target object is set, the plurality of geometric features and the plurality of image features detected from the image are associated with each other based on an approximate position and orientation of the measurement target object and the flag, and a position and orientation of the measurement target object is derived based on a result of the association by the association unit.

Abstract: An article processing apparatus, having a movable member for article processing, includes an information processor configured to set a plurality of clusters each of which includes, as a plurality of nodes, a plurality of candidates of a transition order of states of the movable member with respect to each of a plurality of target regions of an article, set a plurality of costs respectively to a plurality of combinations of two nodes which respectively belong to two mutually different clusters of the plurality of clusters, and generate a transition order of states of the movable member over the plurality of target regions by obtaining, as a solution of a traveling salesman problem, an order of traveling through a plurality of nodes each selected from each of the plurality of clusters, based on the plurality of clusters and the plurality of costs.

Abstract: Provided is a method for determining a placement of a moving body that moves to face an object and perform a process at a plurality of target points on the object. The method includes the following steps executed by a processor: a step of setting candidates regarding the placement of the moving body for each of the plurality of target points; a step of obtaining a processable area, which is capable of being processed by the moving body in the object, corresponding to each of the set candidates; and a step of determining the candidate corresponding to a combination of the processable areas as the placement of the moving body by obtaining the combination of the processable areas satisfying the plurality of target points from among the obtained plurality of processable areas.

Abstract: Provided, is a method for determining a placement of a moving body that, moves to face an object, and performs processes at a plurality of target points en the object. The method includes a first step of setting a plurality of processable areas capable of the processes by the moving body to a plurality of the target points; a second step of determining candidates regarding the placement of the moving body for each of the processable areas set in the first, step; and a third step of determining the placement of the moving body and the moving path of the moving body by solving a Generalized Traveling Salesman Problem using the candidates regarding the placement of the moving body determined in the second step.