| 摘要 |
<p>A 3-dimensional object recognition method which can be applied to a pin picking system, comprising a step (A) of obtaining 1st and 2nd images of an object, a step (B) of detecting 2-dimensional features of the object from the 1st and 2nd images, a step (C) of evaluating the reliability of the step (B) in comparison with the model data of the object, a step (D) of matching the 2-dimensional features of the 1st image against the 2-dimensional features of the 2nd image, a step (E) of evaluating the reliability in the step (D) by comparing the 2-dimensional features of the 1st image with the 2-dimensional features of the 2nd image, a step (F) of recognizing the 3-dimensional position and posture of the object in accordance with 3-dimensional information of the 2-dimensional features which are obtained by the matching, and a step (G) of evaluating the reliability of the recognized 3-dimensional position and posture.</p> |
