OBJECT RECOGNIZING DEVICE, OBJECT TO BE RECOGNIZED, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide an object recognizing device for accurately recognizing an object by measuring the position and angle of the object easily with high accuracy. SOLUTION: The object recognizing device 200 includes: a camera 20 photographing a target 100 having first reference markers which are three reference markers on a plane and specified in the mutual position relationship, a second reference marker which is one reference marker in a fixed position from this plane and specified in the position relationship with the first reference markers, and a third reference marker arranged on the plane and specified in the position relationship with the first reference markers; and an arithmetic unit 30 identifying the images of the first reference markers, the image of the second reference marker and the image of the third reference marker using an affine invariant based on the position relationship of five marker images photographed by the camera 20 and computing the position relationship of a code marker with a first reference point based on the position relationship of the identified marker images of the first reference markers and the marker image of the second reference marker to identify the target 100. COPYRIGHT: (C)2009,JPO&INPIT