| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide an image processor, or the like, capable of specifying the position attitude of a detection object, regardless of the position of the detection object on a picked-up image.SOLUTION: An image processor comprises: a reference model storage section 110; a picked-up image acquisition section 130; and a position attitude specifying section 150 for performing matching processing between the reference model and the picked-up image on the basis of the matching area set according to a sampling point of the reference model, and specifying the position attitude of a work-piece. When the matching area set when the matching processing is performed in a first area of the picked-up image is made a first matching area, the matching area set when the matching processing is performed in a second area is made a second matching area, and the direction from a reference point to each sampling point is made a first direction, the length of the second matching area in the first direction is made longer than the length of the first matching area in the first direction.</p> |
