| 摘要 |
PROBLEM TO BE SOLVED: To improve the processing efficiency of object recognition.SOLUTION: An object recognition device comprises: distance point acquisition means for acquiring the distance point data of an object; plane detection means for detecting a plane included in the object from the distance point data; edge element detection means for detecting an edge element included in an object from the distance point data; storage means for storing a plane and edge element included in an object model, a reference template image group generated by rotating the plane in a predetermined angle step and the homogeneous transformation matrix of each plane corresponding to the reference coordinates of the object model; similar face detection means for detecting a plane whose area is almost the same as that of the plane detected from the object model; template generation means for generating the input template image of the object; matching means for detecting and associating the plane of the reference template image of the object model corresponding to the plane of the input template image; rearrangement means for rearranging the whole object model in the coordinate system of the object; and evaluation means for evaluating the rearranged object model. |
