| 摘要 |
PROBLEM TO BE SOLVED: To accurately estimate at least either one of a position and a posture of an object with a shape having an edge width of a fillet part or a chamfer or the like.SOLUTION: A model edge extracting section 210 extracts an edge area and the width of the edge area from shape information indicating an object shape. A model edge projecting section 220 projects the edge area in image data obtained by imaging the object, on the basis of at least either parameter out of the position and the posture of the object. An edge detecting section 230 detects an edge from the image data on the basis of the width of the edge area. A position posture updating section 240 updates the parameter so that a distance is small between the projected edge area and the detected edge. |
