摘要 |
An pose estimation and comparison system has an pose estimation and comparison unit ( 20 ). The pose estimation and comparison unit ( 20 ) has an pose candidate decision unit ( 30 ) which decides an pose candidate. According to the generated pose candidate, a comparison image generation unit ( 40 ) generates a plurality of comparison images close to the input image, while projecting a three-dimensional object model obtained from a three-dimensional object model storage unit ( 45 ) to a two-dimensional image. A sharpness extraction unit ( 60 ) extracts a first sharpness amount reflecting the sharpness from each of the generated comparison images. A weighted difference calculator ( 50 ) calculates a plurality of weighted differences by weighting the first sharpness amount to the difference between the input image and each of the comparison images. A determination unit ( 52 ) selects a comparison image having the smallest weighted difference as the comparison image closest to the input image, thereby performing the pose estimation and comparison.
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