POSITION AND ATTITUDE DETECTING METHOD OF OBJECT

摘要

PROBLEM TO BE SOLVED: To provide a position and attitude detecting method of an object capable of detecting the position of the object with ease not through image processing. SOLUTION: In the position and attitude detecting method of an object for detecting and picking the position and attitude of the object, the surface of the object is photographed and the region of the object is extracted from the photographed image for detecting a attitude. Then the contour 22 and center of gravity G of the region are obtained, and the distance r (θ) from the center of gravity G as a datum point to each contour point 32 of a contour shape is obtained to be a contour line 38 for detecting a position. While a contour 34 in a reference image on the surface of the object is registered at a polar coordinate having the center of gravity G as a fixed point, the position and attitude of the object are measured by comparing the reference contour line 34 with the obtained contour line 38 for detecting attitude.