Abstract: To provide an information processing apparatus capable of creating a high-quality map with reduced measurement omissions, in an information processing apparatus, sensor information that includes shape information of a surrounding environment is acquired from a three-dimensional sensor mounted on a movable apparatus, position and orientation information of the three-dimensional sensor when the three-dimensional sensor has measured the shape information is acquired, map information for the creation of a shape map of the surrounding environment is created based on the shape information and the position and orientation information, a portion corresponding to a movable object in the shape information is recognized based on the sensor information, and a measurement omission region that corresponds to a measurement omission in the shape map is set based on the sensor information, the position and orientation measurement information, and the portion.

Abstract: An information processing apparatus acquires a stereo image, performs matching of feature points of a first number smaller than the number of pixels in a first image to estimate three-dimensional positions of the feature points with respect to a stereo camera, sets the feature point determined to be acquired from a space set in a field of view of an imaging unit as a target point, sets surrounding points of a second number greater than the number of the feature points for which the three-dimensional positions are estimated in an image area within a predetermined distance range from the target point in the first image, and determines whether the target point is the feature point indicating a feature of an object existing in the space based on differences between the three-dimensional positions of the surrounding points and the target point with respect to the stereo camera.

Abstract: An information processing apparatus comprises an obtainment unit configured to obtain sensor information which is a result obtained by a sensor, mounted in a mobile robot, sensing an actual space and a position and a posture of the sensor in the sensing, an estimation unit configured to set, as an index, the sensor information and/or the position and the posture obtained by the obtainment unit and estimate, based on a newly obtained index and an index which has been obtained in the past and is similar to the newly obtained index, a progress status of an operation for obtaining pieces of sensor information including pieces of sensor information of a closed path; and an output unit configured to output the progress status estimated by the estimation unit.

Abstract: An information processing apparatus comprising: at least one processor programmed to cause the apparatus to: hold label information regarding presence of a target object, the label information being set for the target object in an image; obtain a reliability of the label information; cause a display apparatus to display the label information and an image corresponding to the label information in the image, based on the reliability; accept an operation made by a user; and modify the label information based on the operation.

Abstract: An information processing apparatus includes an acquiring unit configured to acquire first data and second data, a deriving unit configured to derive gradient data describing a gradient of correspondence data on the basis of the correspondence data describing a correspondence between partial data of the first data and partial data of the second data, and a propagating unit configured to propagate the correspondence data on the basis of the gradient data.

Abstract: An information processing apparatus, comprising: a control unit configured to control a pattern that a projection apparatus projects onto an object; an obtainment unit configured to obtain a plurality of images respectively captured at a plurality of times by a plurality of image capturing apparatuses that capture the object onto which the pattern has been projected; and a measurement unit configured to measure range information of the object by performing matching, between images respectively captured by the plurality of image capturing apparatuses, using information of temporal change of pixel values of the images.

Abstract: An information processing apparatus includes an acquiring unit configured to acquire first data and second data, a deriving unit configured to derive gradient data describing a gradient of correspondence data on the basis of the correspondence data describing a correspondence between partial data of the first data and partial data of the second data, and a propagating unit configured to propagate the correspondence data on the basis of the gradient data.

Abstract: An information processing apparatus comprising: at least one processor programmed to cause the apparatus to: hold label information regarding presence of a target object, the label information being set for the target object in an image; obtain a reliability of the label information; cause a display apparatus to display the label information and an image corresponding to the label information in the image, based on the reliability; accept an operation made by a user; and modify the label information based on the operation.

Abstract: An image processing apparatus includes: an acquisition unit configured to acquire viewpoint information indicating a viewpoint; a generation unit configured to generate a determined-viewpoint image based on a plurality of captured images captured from a plurality of directions and the viewpoint information acquired by the acquisition unit, wherein the generation unit performs an inclination correction process for correcting an inclination, according to the viewpoint information, of the determined-viewpoint image; and an output unit configured to output the determined-viewpoint image generated by the generation unit.

Abstract: A region projected with pattern light in an image sensed by an image sensing unit which senses an image of a target object projected with pattern light is specified. Geometric features of the target object are searched for from a region other than the region projected with the pattern light in the sensed image based on the specified region. A position and orientation of the target object are derived based on the searched geometric features of the target object and geometric features of a model of the target object.

Abstract: A three-dimensional shape model of a target object is input. A position and orientation of at least one image sensing device used to capture an image of the target object is set so as to virtually set a relative position and orientation between the target object and the image sensing device for the three-dimensional shape model of the target object. At least one position and orientation of the image sensing device is selected. Geometric features are grouped based on a relationship between an image to be obtained at the selected position and orientation of the image sensing device and the geometric features of the three-dimensional shape model.

Abstract: An apparatus that enables measurement of distances to a plurality of planes of an object and plane directions thereof, includes one or more processors that execute instructions to acquire an image of the object on which a projection pattern is projected, the projection pattern being formed by arranging a plurality of line sets at intervals longer than a predetermined value, each of the plurality of line sets having lines arranged at intervals shorter than the predetermined value, detect the lines in the projection pattern from the image, determine the line sets from the detected lines, calculate a distance from a predetermined reference coordinate to a position on a plane of the measurement target object on which a detected line is projected, and calculate a plane direction of a plane of the object on which the line sets are projected, based on the calculated distance.

Abstract: To measure a three-dimensional shape of a measurement target object at high speeds, an information processing apparatus is configured to acquire an image captured while a pattern including first features and a second feature is projected onto the measurement target object; identify the first features in the captured image, and acquire an initial value of shape information on the measurement target object in an area including the first features; set a candidate for the shape information in a first area based on an initial value of shape information in an area surrounding the first area; decide an area in the pattern corresponding to the first area as a second area, and evaluate a correlation between the second area and the first area based on the second feature in the first area and the second feature in the second area; and derive the shape information in the first area.

Abstract: An information processing apparatus, comprising: a control unit configured to control a pattern that a projection apparatus projects onto an object; an obtainment unit configured to obtain a plurality of images respectively captured at a plurality of times by a plurality of image capturing apparatuses that capture the object onto which the pattern has been projected; and a measurement unit configured to measure range information of the object by performing matching, between images respectively captured by the plurality of image capturing apparatuses, using information of temporal change of pixel values of the images.

Abstract: To measure a three-dimensional shape of a measurement target object at high speed, an information processing method includes acquiring a captured image captured by an imaging apparatus in a state where a pattern is projected onto the measurement target object, the pattern including a plurality of lines, identification information arranged on or between the lines to identify the lines, and a feature arranged between a plurality of the lines, identifying each line included in the captured image by acquiring a correspondence between each line included in the projected pattern and each line included in the captured image, determining a second region in the pattern corresponding to a first region between the lines in the captured image, and deriving a distance of the measurement target object by acquiring a correspondence between the first region and the determined second region.

Abstract: An image processing apparatus includes: an acquisition unit configured to acquire viewpoint information indicating a viewpoint; a generation unit configured to generate a determined-viewpoint image based on a plurality of captured images captured from a plurality of directions and the viewpoint information acquired by the acquisition unit, wherein the generation unit performs an inclination correction process for correcting an inclination, according to the viewpoint information, of the determined-viewpoint image; and an output unit configured to output the determined-viewpoint image generated by the generation unit.

Abstract: A spread degree of a geometric feature in a surface of an object to be measured is estimated. The geometric feature is included in a geometric pattern, and will be observed in an image obtained by capturing the object on which the geometric pattern is projected. A parameter is set based on the estimated spread degree. Based on the parameter, a point on the geometric pattern is set in a captured image obtained by capturing the object to be measured on which the geometric pattern is projected. A three-dimensional position on the surface of the object corresponding to the set point is calculated.

Abstract: A pattern having identification features on measurement lines of a multi-slit is projected to an object, and an image is acquired. Based on positions of identification features detected from the image, a measurement line number is identified for each identification feature. Based on a position of a selected identification feature on the image, a position and a slope of an epipolar line in a coordinate system of the pattern are calculated. The position and slope of the epipolar line are calculated by projecting a straight line extending from the position of the selected identification feature to a line-of-sight direction onto the coordinate system. Because the position of the selected identification feature in the coordinate system is on the epipolar line, a measurement line having an identification feature on the epipolar line is searched on the pattern to identify the measurement line number for the selected identification feature.

Abstract: To measure a three-dimensional shape of a measurement target object at high speeds, an information processing apparatus is configured to acquire an image captured while a pattern including first features and a second feature is projected onto the measurement target object; identify the first features in the captured image, and acquire an initial value of shape information on the measurement target object in an area including the first features; set a candidate for the shape information in a first area based on an initial value of shape information in an area surrounding the first area; decide an area in the pattern corresponding to the first area as a second area, and evaluate a correlation between the second area and the first area based on the second feature in the first area and the second feature in the second area; and derive the shape information in the first area.

Abstract: There is provided with an information processing apparatus. Location information indicating an approximate location of a measurement target relative to a projection apparatus is obtained. The projection apparatus projects, onto the measurement target, projection light of a predetermined pattern composed of light rays travelling in respective directions. For respective travelling directions, incident regions of the measurement target on which the projection light is incident are estimated in accordance with the location information. Amounts of the projection light toward the respective travelling directions are determined such that light amounts of reflected light from the estimated incident regions toward an image capturing apparatus fall within a predetermined range. The image capturing apparatus captures an image of the measurement target onto which the projection light has been projected.