OBJECT RECOGNITION DEVICE, OBJECT RECOGNITION METHOD, OBJECT RECOGNITION PROGRAM, ROBOT SYSTEM, AND ROBOT

摘要

PROBLEM TO BE SOLVED: To accurately estimate the position and attitude of an object.SOLUTION: A template storage unit stores a template showing the shape of an object; a window area setting unit sets a window area of a predetermined size in an image photographed by an imaging unit and showing the shape of the object; a flat surface extraction unit extracts flat surfaces of the object on the basis of an image included in the window area; a selection unit selects the largest flat surface of the flat surfaces extracted by the flat surface extraction unit; and a collation unit collates the flat surface selected by the selection unit with the shape of the object shown by the template stored in the template storage unit.