| 摘要 |
PROBLEM TO BE SOLVED: To provide an attitude estimation apparatus that implements efficient and stable attitude estimation irrespective of the surface shape of articulate objects and the length and thickness of links connecting joints. SOLUTION: The attitude estimation apparatus comprises an imaging part 1 for capturing an image, a feature vector extraction part 2 for extracting image features such as a silhouette and edges from the image acquired by the imaging part 1, a motion prediction part 3 for predicting an attitude possible in the current frame from the preceding frame estimation result and information in an attitude dictionary A, a higher hierarchy two-class identification part 4 for calculating the probability that an attitude estimated from the image features belongs to each node from the predicted attitude information and the image features from the image feature extraction part 2 by reference to a higher hierarchy of two-class identifying planes of an attitude tree structure in the attitude dictionary A, a lower hierarchy regression identification part 5 for estimating an attitude from the higher hierarchy results and the extracted image features by reference to a lower hierarchy of mapping functions of the attitude tree structure in the attitude dictionary A, and a recognition result output part 6 for generating and outputting attitude information from the results of the lower hierarchy regression identification part 5. COPYRIGHT: (C)2008,JPO&INPIT
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