| 摘要 |
PROBLEM TO BE SOLVED: To specify the shape of an object to be recognized by selecting feature points of same number as specific points, ordering the degree of approximation of combinations determined to fit for the shape of the object from mutual positional relationship and determining the first combination as a specific point. SOLUTION: Lower surface image of an object to be recognized, i.e., an electronic part 4, is picked up by means of a camera 1, contour lines are extracted from the image and feature point representative of the bend in the shape of the electronic part 4 are extracted based on the maximal points of curvature appearing along the contour lines. Combinations for selecting four feature points of same number as four vertexes specifying the shape of the electronic part 4 are then determined among the feature points. In order to select a combination representative of the shape of the electronic part 4, the degree of approximation is evaluated subsequently using an evaluation formula established by combining dimensions and angles which can be specified by the feature points and contour lines. A combination of feature points evaluated to be the first combination is determined as a specific point representative of the shape of the electronic part 4. The shape of the electronic part 4 is specified based on these specific points.
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