| 摘要 |
PROBLEM TO BE SOLVED: To provide three-dimensional object position/attitude detection method and device capable of detecting the position of a three-dimensional object and the attitude.SOLUTION: Processing is started when a control signal is input from an input section to a system control section (S11). The system control section instructs a camera control section to photograph images by a camera and the photographed image data is stored in an image memory in a storage section via the system control section (S12). The image data stored in the storage section is read in the system control section, well-known color segmentation processing is executed and area segmentation processing is performed (S13). Further, the system control section refers to a color/attitude correspondence table in the storage section for each segmented area to calculate a normal vector (S14). The system control section calculates position/attitude information for each area (S15). The system control section outputs the position/attitude information calculated in the step S15 as a control signal to an output section (S16). |
