US 12,333,749 B2
Information processing apparatus, information processing method, and storage medium
Naoki Umemura, Chiba (JP)
Assigned to CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed by CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed on Mar. 31, 2022, as Appl. No. 17/709,826.
Claims priority of application No. 2021-064865 (JP), filed on Apr. 6, 2021.
Prior Publication US 2022/0319028 A1, Oct. 6, 2022
Int. Cl. G06T 7/55 (2017.01); A63B 71/06 (2006.01); G06T 7/60 (2017.01); G06T 7/73 (2017.01); G06T 17/00 (2006.01); G06V 20/64 (2022.01)
CPC G06T 7/55 (2017.01) [A63B 71/0605 (2013.01); G06T 7/60 (2013.01); G06T 7/75 (2017.01); G06T 17/00 (2013.01); G06V 20/64 (2022.01); A63B 2220/05 (2013.01); A63B 2220/62 (2013.01); A63B 2220/806 (2013.01); A63B 2243/0025 (2013.01); A63B 2243/0033 (2013.01); A63B 2243/0037 (2013.01); G06T 2207/30224 (2013.01)] 17 Claims
OG exemplary drawing
 
1. An information processing apparatus comprising:
one or more memories storing instructions; and
one or more processors executing the instructions to:
generate three-dimensional shape data representing each three-dimensional shape of objects by using a plurality of images obtained by a plurality of imaging apparatuses capturing the objects, wherein the three-dimensional shape data is data represented by voxels and peripheral voxels are regarded as being part of one object;
estimate each size of the objects based on the three-dimensional shape data based on positions of the voxels;
compare each estimated size of particular objects included in the objects obtained by the estimating with a reference value based on a predetermined size of a predetermined object;
specify the three-dimensional shape of the particular object whose estimated size is smaller than the reference value as the three-dimensional shape of the predetermined object;
specify a position of the specified three-dimensional shape of the predetermined object included in particular objects among the objects that is captured by the plurality of imaging apparatuses; and
specify a contact between the particular object and the predetermined object based on the specified position of the predetermined object.