FIELD

The embodiments relates to a recording medium recording an information processing program, an information processing apparatus and an information processing method.

BACKGROUND

A three-dimensional object verification device estimates position and orientation of an object on the basis of data obtained by a three-dimensional sensor.

Related art is disclosed in Japanese Laid-open Patent Publication No. 2007-322351, Japanese Laid-open Patent Publication No. 2008-309671, Japanese Laid-open Patent Publication No. 2012-26974, International Publication Pamphlet No. WO 2014/155715, and Japanese Laid-open Patent Publication No. 2009-128192.

SUMMARY

According to an aspect of the embodiments, a non-transitory computer-readable recording medium records an information processing program that causes a computer to execute processing of: obtaining a plurality of pieces of three-dimensional point data observed by an observation circuit mounted on a mobile body; calculating a feature amount according to a distance between a position of the mobile body and each of three-dimensional points indicated by the plurality of pieces of three-dimensional point data, based on a position of the mobile body and the plurality of pieces of three-dimensional point data; and specifying a reference point that corresponds to the position of the mobile body from among a plurality of reference points in a mobile space of the mobile body which are registered in a database that registers a plurality of combinations each of the respective reference points and the feature amounts according to the distance between the position of the respective reference points and each of three-dimensional points indicated by a plurality of pieces of three-dimensional point data observed from the position of the respective reference points, based on the calculated feature amount and the database.

The object and advantages of the invention will be realized and attained by means of the elements and combinations particularly pointed out in the claims.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the invention.

