IMAGE PROCESSING APPARATUS, ESPECIALLY OBTAINING A POSITION AND ATTITUDE OF THE WORKPIECE FROM THE IMAGING DIRECTION AND IMAGING POSITION

摘要

PURPOSE: An image processing apparatus is provided, which recognizes attitude of a wide object with high accuracy. CONSTITUTION: The image processing apparatus(1) recognizes attitude of an object(6) by comparing an input screen of the object with a teaching model of the object. The first teaching model is constituted with a direction of photographing the object from a plurality of directions and a photographed image corresponding to the direction, so as to cover the whole range of the attitude of the object discretely. The second teaching model is constituted with a direction of photographing a partial range of the attitude of the object from a plurality of directions by lowering a scale of direction change than the first teaching model. The first comparison unit compares the first input image of the object with each image of the first teaching model. A relative position attitude change unit changes relative position attitude of the object and a photographing unit(4) to be in the range of the attitude of the second teaching model. The second comparison unit compares the second input image of the object with each image of the second teaching model.