OBJECT RECOGNITION DEVICE AND ROBOT DEVICE

摘要

PROBLEM TO BE SOLVED: To recognize a three-dimensional position attitude of a target object by distance data obtained from a distance sensor. SOLUTION: The object recognition device for recognizing the position and attitude of an object comprises a model input means (1); a scene measurement means (2); a means for creating a pair of corresponding points (3); a grouping means for creating a group in reference to all pairs of corresponding points by repeating processing for adding other pairs of corresponding points having geometrical consistency to a group Gi (4); an agreement verification means for determining the position attitude of an object (5); and a means for improving the accuracy for calculating a final position attitude by improving the accuracy by repeating processing for correcting the position attitude (6). COPYRIGHT: (C)2009,JPO&INPIT