THREE-DIMENSIONAL POSITION/ATTITUDE RECOGNITION APPARATUS, METHOD AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a three-dimensional position/attitude recognition apparatus, a method and a program capable of properly recognizing three-dimensional position/attitude of an object body even when a measurement point group is used which lacks information on a partial shape out of the original shape of the object body.

SOLUTION: The three-dimensional position/attitude recognition apparatus includes: model processing means 10 in which a measurement point group and a model point group opposed thereto are matched with each other and a point specified on the basis of a matching result out of the model point group is deleted and processed; and recognition means 11 in which the measurement point group and the model point group deleted and processed in the model processing means 10 are matched with each other to recognize the three-dimensional position/attitude of an object body 3.

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