| 摘要 |
The provided is an object recognition apparatus and the like to improve an accuracy of object recognition. An object recognition apparatus according to an aspect of the present invention includes: extraction means for extracting a feature from an image; matching means for performing matching a first feature extracted from the image with second features extracted from model images representing an object; relation calculation means for calculating, based on the model images, relative camera poses representing geometric relations among the model images; voting means for calculating calibrated votes based on a result of the matching and the relative camera poses, the calibrated votes each representing a calibrated geometric relation between the first feature and a second feature of the second features, the calibrated geometric relation being a geometric relation from which an effect of the relative camera poses is canceled; clustering means for performing clustering the calibrated votes; and determination means for determining if the image represents the object based on a result of the clustering. |
