| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a marker recognition device and method for recognizing an inclined circular marker. <P>SOLUTION: This marker recognition device 1 for recognizing a circular marker from a pickup image is provided with an imaging means 2, edge processing means 11 and 12 for calculating the edge of the shape of the circular marker to be recognized from the pickup image, a normal vector processing means 13 for calculating a normal vector to the calculated edge, ellipse detecting means 14, 15, 16 and 17 for detecting an elliptic shape based on the calculated edge and normal vector, a round converting means 18 for converting the circular marker to be recognized into a round shape based on the central coordinates, axial length and elliptic inclination of the detected elliptic shape into a round shape and a recognition means 19 for recognizing the circular marker based on the converted round shape. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
