| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot capable of narrowing down a template with high accuracy.SOLUTION: An object recognition device 1 installed in a robot includes: an object environment information database 16 for storing object environment information including information related to an environment where an object to be recognized exists; and an object information database 13 for storing object information including a model image related to the object. The object recognition device 1 configured to perform template matching by using pickup image and a model image, and to recognize the object, includes: an attitude acquisition part 15 for acquiring the attitude information of an imaging part 2 which images the pickup image; and a template candidate calculation part 14(model image estimation part) for calculating the existence allowable range of the object in the object environment on the basis of the object environment information, the object information and the attitude information, and for giving priority to the model image to be used for template matching.SELECTED DRAWING: Figure 1 |
