ESTIMATION METHOD OF EXISTENCE LOCATION OF OBJECT

摘要

PROBLEM TO BE SOLVED: To provide an object existence location estimation method that can estimate an existence location of a target object using a three-dimensional distance image with a quite high probability.SOLUTION: A method of estimating an existence location of an object using a three-dimensional distance image sensor provided with a light projector and a light receiver comprises: a distance image data acquisition process of projecting pattern light from the light projector to capture reflection light from the object, and acquire distance data relative to the object as an image; and a clustering process of extracting a candidate area of the object to extract a contour line of the area on the basis of the distance image data. In the clustering process, a determination is made whether a target object is a measurable object or a non-measurable object on the basis of learning data acquired by preliminarily metering a size of a non-observation area to be observed at a location relationship between the three-dimensional distance image sensor and a measurable object.