| 摘要 |
PROBLEM TO BE SOLVED: To recognize a three-dimensional position attitude of a target object, using distance data obtained from a distance sensor. SOLUTION: In a three-dimensional object recognition method for detecting a three-dimensional position attitude of an object, by comparing the scene data measured by a sensor capable of measuring distance with model data for indicating a three-dimensional shape of a target object for an amount of feature indicating the surface shape of each point. The three-dimensional object recognition method includes at least one of a first step for selecting a point effective for the comparison, based on operation conditions, by inputting the operation conditions of object recognition before calculating the amount of feature of each point of the model data (1), and a second step for selecting a point having an amount of feature effective for the comparison, by analyzing the similarity in the amount of feature of each point, after calculating the amount of feature at each point of the model data (2). COPYRIGHT: (C)2009,JPO&INPIT
|
