| 摘要 |
PROBLEM TO BE SOLVED: To provide an image recognition device, recognizing the presence/absence of an object with good accuracy. SOLUTION: This image recognition device 1 includes two cameras for imaging the object and a processing unit. The processing unit restores the surface shape of the object as a set of a number of dots on a three-dimensional space according to the pick-up images of the object by the cameras, and divides the three-dimensional space including these restoring dots into voxels. The processing unit defines distribution of existence probability so that the existence probability of the restoring dots becomes highest on the respective optical lines connecting the cameras and the respective restoring dots, associates the defined existence probability with the voxels where the respective optical lines pass, and calculates the average value of existence probability associated with the respective voxels. The processing unit determines whether or not the object exists in a position corresponding to each voxel according to the average value of the existence probabilities associated with the respective voxels. COPYRIGHT: (C)2008,JPO&INPIT
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