| 摘要 |
PURPOSE:To attain a highly accurate and high speed recognition processing and to obtain an inexpensive high speed visual recognizing device by freely moving a visual sensor and performing an observing operation from an optimum position. CONSTITUTION:The visual sensor 10 picks up the image of an observed object and outputs the video signal of an input picture to a visual recognition part 12. In the recognition part 12, the real time picture operation of the input picture is performed and characteristic parameters such as the quantity of aberration or the quantity of rotational shift with respect to the reference position of the input picture, an area, a contour are formed. they are fed to a position/ attitude control part 13 together with the absolute coordinate information of the observed object or the like. In the position and attitude control part 13, the operation of a support mechanism part 11 is controlled based on the characteristic parameters or the coordinate information to move the visual sensor 10 to an optimum position for observing. A series of the operation is carried out at a video rate, so that the visual sensor 10 can perform a similar operation to the visual system of a human being who moves to the optimum position for observing while observing the observed object.
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