| 摘要 |
PURPOSE:To recognize the position without isolating an individual object in a background by obtaining a tangent line in the vertical direction and in the horizontal direction of a cylindrical object at a left side at the forefront column of the gathering of the cylindrical object. CONSTITUTION:Concerning the extracted area, the minimum value of (y) coordinates, namely, the tangent line 6 of a cylindrical parts 5 is determined. A horizontal line 7 fallen in parallel only for the radius on the upper surface of the cylindrical parts from the tangent line 6 crosses with the circular circumference of the upper surface 3 of the cylindrical parts. The point is searched in which the (y) coordinates of the upper surface 3 of the cylindrical parts come to be minimum between a perpendicular 8 which passes through the crossed point and a perpendicular 9 which shifts in the direction of the radius part (x). The horizontal line which passes this point comes to be a tangent line 10 in the horizontal direction of the upper surface 3 of the cylindrical parts. Further, the point is searched in which (x) coordinates of the upper surface 3 of the cylindrical parts come to be minimum between the tangent line 10 and a horizontal line 12, and the perpendicular which passes through the point is a tangent line 11 in the vertical direction of the upper surface 3 of the cylindrical parts. When the radius of the upper surface of the cylindrical parts is respectively added to the tangent line 10 in the horizontal direction, a center 4 is obtained. Further, it is confirmed whether or not the point in which the tangent line 10 in the horizontal direction and the tangent line 11 in the vertical direction and the point which crosses with the circular circumference of the upper surface 3 of the cylindrical parts on a line 13 to link a center 4 are located at the radius from the center 4. |
