SOLID, METHOD, DEVICE, PROGRAM FOR THREE DIMENSIONAL ATTITUDE SENSING, AND RECORDING MEDIUM RECORDED WITH THE PROGRAM

摘要

PROBLEM TO BE SOLVED: To suppress storage capacity of a template image and a computing cost of matching process in three dimensional attitude sensing. SOLUTION: A three dimensional attitude sensing device 3 detects a position of intersection (namely, a pole) of a surface and an axis of a solid 1 from an image acquired by imaging the solid 1 with a camera 2 based on a position of a figure plotted on the surface of the solid 1, and calculates an attitude of the axis of the solid 1 by an axis attitude calculation section 11. Then, the attitude of the solid 1 is calculated based on comparison with a figure and template image groups prepared beforehand or color information of the figure by a solid attitude calculation section 12. COPYRIGHT: (C)2004,JPO