Information processing apparatus, information processing method, and storage medium for measuring a position and an orientation of an object by using a model indicating a shape of the object
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United States of America Patent
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May 29, 2018
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N/A
app pub date -
Mar 22, 2016
filing date -
Mar 24, 2015
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Abstract
An information processing apparatus includes a distance information acquisition unit configured to acquire distance information with respect to a measurement target object to determine interference between the object and a container for storing the object when the object is to be gripped, a derivation unit configured to derive a position and an orientation of the measurement target object based on the distance information and a partial model representing a partial shape of the measurement target object, and an interference determination unit configured, based on the position and the orientation derived by the derivation unit and a whole model representing a whole shape of the measurement target object, to determine whether interference has occurred between the measurement target object and the container for storing the measurement target object.
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