METHOD FOR DETECTING PARTS POSITION ATTITUDE, DEVICE IMPLEMENTING THE METHOD AND MEDIUM WITH SOFTWARE REALIZING THE METHOD RECORDED THEREIN

摘要

PROBLEM TO BE SOLVED: To accurately detect the position and attitude of parts by inputting an image to media such as a floppy disk recording software and a CD-ROM, extracting the circular characteristics of the parts from the inputted image and setting the three-dimensional position attitude data of the extracted circular characteristics as the position attitude data of the parts. SOLUTION: Images are inputted to media such as a floppy disk recording software and a CD-ROM (S1). First, a closed curve is extracted as a candidate for a circular characteristics from an inputted image, and circular characteristics of parts are extracted by performing circular approximation about a point sequence on a plane calculated on the basis of the three-dimensional data of a point sequence constituting the closed curve (S2). The position attitude of the parts are detected by setting the three-dimensional position attitude data of the extracted circular characteristics as the position attitude data of the parts (S3). It is possible to detect the position attitude of the parts even while the parts are inclined because the parts are detected on the basis of the three- dimensional circular characteristics.