MEASUREMENT DEVICE, MEASUREMENT METHOD AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To stably measure a position and an attitude of an object even if the object includes high-frequency irregularity in its shape.SOLUTION: A distance image input part 120 inputs image data imaging an object of which at least one of a position and an attitude is to be measured. A three-dimensional model projection part 140 projects a model representing the object to the input image data. A smoothing unit 150 smooths the image data and the model projected to the image data. An association part 160 associates coordinates in the smoothed image data and coordinates in the model projected to the image data. A position-attitude calculation part 170 measures at least one of the position and the attitude of the object according to a result associated at the association part 160.