US Patent 11188742 Information processing apparatus and model data creating method

An information processing apparatus includes a memory, and a processor coupled to the memory and configured to obtain point cloud data related to a surface of an object including a plurality of parts connected through joints from a sensor that obtains three-dimensional position information, perform, based on an object model that represents the plurality of parts by using a plurality of geometric models each having an axis, and the point cloud data, a search for an optimal solution of the object model that fits the point cloud data by changing the object model, and output the optimal solution or information of the object based on the optimal solution.