| 摘要 |
PROBLEM TO BE SOLVED: To provide an image processing apparatus which estimates a position attitude of a detection object having a definite shape part and an indefinite shape part, a robot control system, a robot, a program, and an image processing method.SOLUTION: An image processing apparatus 100 includes: a reference image storage unit 110 which stores a plurality of reference images obtained from CAD (Computer Aided Design) model data of a workpiece having a definite shape part and an indefinite shape part; a captured image acquisition unit 120 which acquires a captured image of the workpiece; and a position attitude identifying unit 130 which identifies a position attitude of the workpiece. The position attitude identifying unit 130 performs matching between the captured image and each of reference images including the indefinite shape part weighted lighter than the definite shape part, to identify the position attitude of the workpiece. |
