| 摘要 |
PROBLEM TO BE SOLVED: To identify with which one of objects estimated beforehand a measurement object matches by a simple processing without accompanying three-dimensional coordinate transformation for a position/posture of the measurement object. SOLUTION: Three-dimensional image data 1 of the object are inputted and the three- dimensional image data 1 are projected on a first two-dimensional projection plane determined by being specified by an operator or selected beforehand in a projection part 2. The centroid of a projection image is obtained in a centroid calculation part 3 and a straight line passing through the centroid and matching with the longest direction of the projection image is obtained in an inertia principal axis calculation part 4. The three-dimensional image data of the object are cut off by a second two-dimensional plane passing through the major axis of the inertia principal axis and orthogonally crossing the first two-dimensional plane and then, a cut-off cross section shape is obtained as a vertical cross section image in a vertical cross section image generation part 5. For the vertical cross section image, the contour is extracted in a contour curve extraction part 6 and all or a part of the area, peripheral length and roundness of the extracted contour and the aspect ratio of a rectangle including a contour curve is obtained as an identification parameter 8 in an identification parameter extraction part 7. |
