| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a device and a method for estimating a state of an object whose shape varies.SOLUTION: A state estimation device is provided which obtains a plurality of pieces of three-dimensional model data indicating various shapes of an object by gripping different places of the object, to generate a plurality of development model images mapped with position information of each point constituting the three-dimensional model data, in a development coordinate system with a longitudinal axis indicating a position in a vertical direction and a lateral axis indicating a position along a surface of the object, obtains three-dimensional data by imaging the gripped object, to generate a development image mapped with position information of each point constituting the three-dimensional data, in the development coordinate system, collates the generated development image with the plurality of development mode images, and specifies the most coinciding development model image to estimate a state of the gripped object. A state estimation method is also provided.</p> |
