| 摘要 |
PROBLEM TO BE SOLVED: To estimate a three-dimensional position and attitude of an object, utilizing a deficit region (invalid region) of a distance image as a feature. SOLUTION: This device for measuring the position and the attitude, measuring the three-dimensional position and attitude of the object of which the three-dimensional shape is known, includes an imaging unit which picks up the distance image wherein information on a distance to the object is held as a pixel value, a sorting unit which sorts out from the distance image the invalid region being a region wherefrom the information on the distance between the imaging unit and the object can not be acquired, an extraction unit which extracts the feature value showing the feature of the invalid region, a memory which correlates the information showing relative positions and attitudes of the imaging unit and the object upon capturing the distance image, with the feature value of each distance image captured from a plurality of different directions by the imaging unit, and stores them, and an approximate position and attitude decision unit which determines the feature value stored in the memory and corresponding to the feature value extracted by the extraction unit and decides the three-dimensional approximate position and attitude of the object, based on the information showing the position and attitude correlated with the determined feature value. COPYRIGHT: (C)2011,JPO&INPIT |
