US Patent 10335963 Information processing apparatus, information processing method, and program

A position and an orientation of an object are measured with high accuracy. An approximate position-orientation of a target object is obtained, positional information of the target object is obtained by measuring the target object using a noncontact sensor, positional information of contact positions touched by a contact sensor is obtained by bringing the contact sensor into contact with the target object, and a position-orientation of the target object is obtained by associating shape information of the target object with the positional information of the target object and the positional information of the contact positions in accordance with the approximate position-orientation.