| 摘要 |
PROBLEM TO BE SOLVED: To provide an image recognition method capable of obtaining position and posture of intricately overlapped workpieces with high reliability.SOLUTION: In a preparation process, a single workpiece W is photographed from a plurality of angles, photographed images are divided into patches to obtain a plurality of sample patch images, the sample patch images are classified, and positional information and posture information of the workpiece W are stored in a corresponding manner for each sample patch image. In an image recognition process, piled-up workpieces W are photographed, patch images created by dividing photographed images are classified, and position and posture of the workpiece W are estimated based on a result that positional information and posture information of the workpieces W corresponding to sample patch images of the same classification are accumulated. A covered area of the workpiece W is estimated based on patch images accumulated in the positional information and the posture information. |
