| 摘要 |
<P>PROBLEM TO BE SOLVED: To estimate an initial attitude rapidly and accurately. <P>SOLUTION: The attitude estimation device comprises: photographing means for photographing a first object and a second object in proximity to the first object; storage means for storing contact information where a plurality of combinations of a component of the first object, a component of the second object, and probability that the components of the first object and the second object are in contact with each other are associated with one another; contact detection means for detecting contact between a component of the first object and a component of the second object in the order of higher probability on the basis of a photographed image containing the first object and the second object and the contact information stored by the storage means; and estimation means for calculating an initial attitude of the first object on the basis of the positions of the first and second objects detected by the contact detection means and a simple model which represents the first object by connecting a plurality of links with one another, and for finally estimating an initial attitude of the first object on the basis of the calculated initial attitude and a detailed model which is the simple model made to resemble the figure of the first object more closely. <P>COPYRIGHT: (C)2013,JPO&INPIT |
