| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a three-dimensional object recognition device and a three-dimensional object recognition method, capable of accelerating a processing speed for recognizing a recognition object. <P>SOLUTION: A space where the three-dimensional model of a recognition object is placed at the center is divided into a plurality of voxels, and a distance field where a distance to the closest point of a three-dimensional model surface and an ID indicating the closest point are recorded is stored in each voxel. The position attitude of a three-dimensional sensor is assumed, the distance to the closest point is acquired by entering respective measurement points for which a point group measured by the three-dimensional sensor is converted to a model coordinate system set to the three-dimensional model to the respective voxels of the corresponding distance field, and a square sum of an inter-point-group distance to the closest point recorded in the voxels corresponding to the respective measurement points is calculated for all the position attitudes of the three-dimensional sensor. An extreme value in the evaluation of the position attitude of the three-dimensional sensor is obtained on the basis of the result, and optimization is performed using the extreme value. <P>COPYRIGHT: (C)2012,JPO&INPIT |
