| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a method of identifying an object at a high speed with high accuracy, which is robust for light variation, dirts and outer shape variation. <P>SOLUTION: The method comprises a first and second identification means. The first identification means includes a plurality of distance image measuring means for measuring a distance image of an object, and a model database for storing by associating dimension values, volume values and values at three-dimensional positional coordinates of each characteristic point of circumscribed rectangular parallelepiped shape of each object; and obtains the circumscribed rectangular parallelepiped shape and volume value of the object, and searches from the model database by using similar objects with similar dimension values and volume value of the circumscribed rectangular parallelepiped shape as object candidates, and creates an identification list of the object candidates wherein searched object candidates are listed in order from those with higher matching. The second identification means performs three-dimensional shape comparison for each small block based on the dimension values, volume values and three-dimensional positional coordinates of characteristic points stored in the model database, evaluates a shape similarity degree of each of the blocks, and omits object candidates with low similarity from the identification list. <P>COPYRIGHT: (C)2004,JPO&NCIPI |
