| 摘要 |
PROBLEM TO BE SOLVED: To provide a collision detection system that can detect a collision even when polygon data of objects cannot be obtained, and further to provide a collision detection data generation device, a robot system, a robot, a collision detection data generation method, a program or the like.SOLUTION: A collision detection system includes: a storage section 50 that stores first collision detection data corresponding to a first object and second collision detection data corresponding to a second object as collision detection data of the first and second objects; and a processing section 10 that performs collision determination of the first object and the second object in a world coordinate system on the basis of the first collision detection data and the second collision detection data. The storage section 50 stores representative point data obtained by discretizing depth map data when the objects are viewed from a predetermined view point in a model coordinate system in a cubic area set in the model coordinate system as the collision detection data. |
