| abstract |
A position/orientation measurement apparatus inputs the two-dimensional image of a measurement object captured by an image capturing apparatus, obtains the distance data of the measurement object measured by a distance sensor, detects an image feature of the measurement object from the two-dimensional image, determines the state of the measurement object, sets, based on the determined state, a usage mode regarding the image feature and the distance data when measuring the position/orientation, and measures the position/orientation of the measurement object in accordance with the set usage mode. |