OBJECT RECOGNITION DEVICE, OBJECT RECOGNITION METHOD, OBJECT RECOGNITION PROGRAM, ROBOT SYSTEM, AND ROBOT

• Main Authors: HARADA TOMONORI, HASHIMOTO KOICHI, ARAI SHOGO, FUJIHIRA ATSUSHI
• Format: Patent
• Language: English; Japanese
• Published: 23.04.2015
• Subjects: CALCULATING; CHAMBERS PROVIDED WITH MANIPULATION DEVICES; COMPUTING; COUNTING; HAND TOOLS; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MANIPULATORS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

PROBLEM TO BE SOLVED: To accurately estimate the position and attitude of an object.SOLUTION: A template storage unit stores a template showing the shape of an object; a window area setting unit sets a window area of a predetermined size in an image photographed by an imaging unit and showing the shape of the object; a flat surface extraction unit extracts flat surfaces of the object on the basis of an image included in the window area; a selection unit selects the largest flat surface of the flat surfaces extracted by the flat surface extraction unit; and a collation unit collates the flat surface selected by the selection unit with the shape of the object shown by the template stored in the template storage unit. 【課題】対象物の位置や姿勢を正確に推定する。【解決手段】テンプレート記憶部は対象物の形状を示すテンプレートを記憶し、窓領域設定部は撮像部が撮像した対象物の形状を示す画像内で予め定めた大きさの窓領域を設定し、平面抽出部は前記窓領域に含まれる画像に基づいて当該対象物の平面を抽出し、選択部は平面抽出部が抽出した平面のうち最も大きい平面を選択し、照合部は選択部が選択した平面と前記テンプレート記憶部に記憶されたテンプレートが示す対象物の形状を照合する。【選択図】図２