METHOD FOR DECIDING POSITION AND ATTITUDE OF OBJECT

摘要

PROBLEM TO BE SOLVED: To increase the speed of a processing of a distance image (image of a three-dimensional coordinate) and object recognition. SOLUTION: A feature point is detected from the distance image, a group of feature points to agree highest with corresponding positional relation on the distance image is selected, by comparing positional relation between feature points of a model with the corresponding positional relation on the distance image and respective elements of a displacement vector T, and a rotation vector R are decided.