INFORMATION PROCESSING DEVICE, CONTROL METHOD FOR INFORMATION PROCESSING DEVICE, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a three-dimensional measurement device capable of accelerating calculation of a position and a posture of a target object.SOLUTION: A three-dimensional measurement device 10: selects a point of a geometric feature in a three-dimensional shape model of a target object; projects a plurality of points of the selected geometric feature on a distance image on the basis of an approximate value indicative of a position and a posture of the target object and a photographic parameter at the time of photographing the distance image; and searches for, out of projected points, the geometric feature on the distance image corresponding to the geometric feature in the three-dimensional shape model in an area within a prescribed range to associate with each other. Then, the position and the posture of the target object are calculated by using difference of distance in three-dimensional space between the geometric feature in the three-dimensional model and the geometric feature on the distance image, which are associated with each other.