| 摘要 |
PROBLEM TO BE SOLVED: To provide an image processing method and an image processor capable of estimating the posture of a target object even when the shape data of the target object are not previously prepared. SOLUTION: The image processing method for estimating the posture of the target object from a stereoscopic image of the target object includes a step (S2) for finding three-dimensional (3D) coordinate points indicating the shape of the target object on the basis of the stereoscopic image, a step (S3) for respectively setting solids around respective 3D coordinate points, generating two vectors by the center of each solid and two 3D coordinate points existing in the vicinity of the surface of the solid, generating a straight line vector when a straight line can be formed by the two vectors, and when a straight line can not be formed, generating a vector having a prescribed angle from a surface formed by the two vectors, and a step (S4) for arranging the vector having the prescribed angle with the straight line vector on three axes and estimating the posture of the target object on the basis of the information of vectors arranged on the three axes. COPYRIGHT: (C)2004,JPO&NCIPI
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