Image processing apparatus.

摘要

A three-dimensional object recognition system according to the present invention comprising three-dimensional position measurement means (6) to measure from a two-dimensional image of an object (1) to be recognized, three-dimensional positions of at least three points on an edge line of a specified polygonal plane of an object surface of the image; image processing means (3) to find on the basis of the three-dimensional position information, direction vectors of respective sides of the edge line as well as a normal vector of the polygonal plane and also edge angles of the respective sides of the edge line relative to a specified direction; and contour line extraction means (4) to select a filter suited for the polygonal plane on the basis of the edge angles and to detect the edge line from two-dimensional image data of the object (1) via a filtering process of the filter.