Object detecting method and object detecting device

摘要

In an object detecting method according to an embodiment, external reference points (O 1 , O 2 , O 3 , O 5 , O 6 , O 7 ) are set in external space of a model (M) of an object (W) and an internal reference point (O 4 , O 8 , O 9 ) is set in internal space of the model (M). A table (81) is stored in which feature quantities on a local surface of the model (M) are associated with positions of the external reference points (O 1 , O 2 , O 3 , O 5 , O 6 , O 7 ) and the internal reference point (O 4 , O 8 , O 9 ). The feature quantity on the local surface of the model (M) is calculated, and the position of the reference point whose feature quantity is identical to the calculated feature quantity is acquired from the table and is converted into a position in a real space. When the converted position is outside the object (W), the position is excluded from information for estimation and the position and the attitude of the object (W) are estimated.