THREE-DIMENSIONAL OBJECT RECOGNITION DEVICE AND THREE-DIMENSIONAL OBJECT RECOGNITION METHOD

摘要

A three-dimensional object recognition device (100) includes: a matching unit (124) configured to compare a three-dimensional object in an image based on the image data with a three-dimensional shape model corresponding to the three-dimensional object to associate correlated feature points with each other by pattern matching; a model updating unit (128) configured to update the three-dimensional shape model based on the feature points associated by the matching unit; a motion estimation unit (130) configured to estimate motion of the three-dimensional object based on a history of the position and attitude of the three-dimensional shape model updated by the model updating unit to estimate a three-dimensional shape model at an arbitrary time in the future; and a validity determination unit (126) configured to compare the feature points associated by the matching unit with the three-dimensional shape model estimated by the motion estimation unit and cause the model updating unit to update the three-dimensional shape model based on only the feature points determined to be valid.