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: 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: An apparatus that enables measurement of distances to a plurality of planes of an object and plane directions thereof, includes a unit acquiring an image of the object on which a projection pattern formed by arranging a plurality of geometric figure sets each having geometric figures arranged at intervals shorter than a predetermined value, at intervals longer than the predetermined value is projected, a unit detecting the geometric figures in the projection pattern from the image, a unit determining the geometric figure sets from the detected geometric figures detected, a unit calculating a distance from a predetermined reference coordinate to a position on a plane of the measurement target object on which a detected geometric figure is projected, and a unit calculating a plane direction of a plane of the object on which the geometric figure sets are projected, based on the calculated distance.

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: 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.

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.