ESTIMATION SYSTEM, ESTIMATION METHOD, AND ESTIMATION PROGRAM FOR ESTIMATING OBJECT STATE

摘要

Three-dimensional model storage means (170) stores three-dimensional shape data on an object and illumination base data in advance. Comparison image generation means (110) generates as a comparison image a reproduction image in which the object is in the position/posture of the currently estimated value under the same illumination condition as the input image. Image displacement distribution detection means (120) divides the comparison image into partial images (small areas) and detects an image displacement distribution between the comparison image and the input image for each of the small areas. Posture difference detection means (130) calculates the position/posture difference value according to the image displacement distribution and the three-dimensional shape data. When end judgment means (140) determines that the position/posture difference value is smaller than a predetermined threshold value, it outputs the current position/posture estimation value as an optical position/posture estimation value (13). Thus, it is possible to rapidly estimate the position and the posture of an object contained in the image.