| 摘要 |
<p>PROBLEM TO BE SOLVED: To accurately measure position attitude even when a geometric relation between an imaging apparatus and an object to be measured is changed, in model fitting on a distance image generated from a plurality of images.SOLUTION: A position attitude measurement device 1 includes: a model holding unit 190 which holds model data of an object; an illumination unit 120 which irradiates the object with a distance measurement pattern; an imaging unit 110 which images the object not irradiated with the distance measurement pattern to obtain a two-dimensional image, and images the object irradiated with the distance measurement pattern to obtain a distance measurement image; a distance image processing unit 140 which generates a distance image from a distance measurement image group formed by imaging a plurality of distance measurement patterns; a detection unit 150 which detects a change in geometric relation between the object and the imaging unit; and a position attitude calculation unit 200 which calculates position attitude of the object, according to a detection result of the detection unit 150, on the basis of at least one of the two-dimensional image and the distance image, and the model data.</p> |
