THREE-DIMENSIONAL OBJECT RECOGNITION DEVICE AND THREE-DIMENSIONAL OBJECT RECOGNITION METHOD

摘要

A three-dimensional object recognition device (100) provided with: a matching unit (124) for comparing, on the basis of image data, a three-dimensional object in an image to a three-dimensional shape model corresponding to the three-dimensional object, and associating correlated feature points using pattern matching; a model update unit (128) for updating the three-dimensional shape model using the matching unit-associated feature points; a motion estimation unit (130) for estimating the motion of the three-dimensional object from the position/attitude history of the three-dimensional shape model updated by the model update unit, and estimating the three-dimensional shape model at an arbitrary point in time in the future; and a validity determination unit (126) for comparing the matching unit-associated feature points to the three-dimensional shape model estimated by the motion estimation unit, and allowing the model update unit to update the three-dimensional shape model using only the feature points determined to be valid.