| 摘要 |
PROBLEM TO BE SOLVED: To provide an article takeout apparatus capable of taking out an article by recognizing a position and a posture of the article placed in a three-dimensional space, irrespective of pattern matching and a user's teaching work or the like.SOLUTION: An article takeout apparatus 10 uses a connected aggregate 32 to recognize a position and a posture of an article 20. In such a case, the following steps are included: selecting first and second three-dimensional points 31 neighboring each other, from a plurality of three-dimensional points 31, on the basis of positional information of the plurality of three-dimensional points 31 acquired by a three-dimensional measuring machine 11 and image data acquired by a camera 12; acquiring image gradient information in a partial image region containing points on an image that correspond to the three-dimensional points 31, on the basis of the positional information of the three-dimensional points 31 and the image data; determining whether or not the first and second three-dimensional points 31 are on the same article, on the basis of the positional information of the three-dimensional points 31 and the image gradient information; and including the first and second three-dimensional points 31 in the same connected aggregate, if the first and second three-dimensional points 31 are determined to be on the same article. |
