OBJECT DETECTION DEVICE, OBJECT DETECTION METHOD, OBJECT DETECTION PROGRAM AND ROBOT

摘要

PROBLEM TO BE SOLVED: To reduce time for detecting a position and a rotation angle of an object in an image.

SOLUTION: An object detection device which detects an object from an image by voting with the use of a reference object model comprises: a storage unit 20 for storing coordinate values of characteristic points in each rotated object model obtained by rotating an object model by each predetermined angle about a representative point of the object model as the reference object model; a contour extraction unit 33 for extracting a contour of the image; a vote calculation unit 36 for calculating a vote which represents an integrated value obtained by voting to coordinate values calculated based on the coordinate values of the reference object model read from the storage unit 20 and coordinate values of points on the counter of the image; and a position extraction unit 37 for extracting a calculated coordinate value that is associated with a vote exceeding a predetermined threshold from the calculated coordinate values.

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