IMAGE COMPARISON RANGE GENERATION METHOD, POSITIONAL ORIENTATION DETECTION METHOD, IMAGE COMPARISON RANGE GENERATION DEVICE, POSITIONAL ORIENTATION DETECTION DEVICE, ROBOT, ROBOT SYSTEM, IMAGE COMPARISON RANGE GENERATION PROGRAM AND POSITIONAL ORIENTATION DETECTION PROGRAM

摘要

PROBLEM TO BE SOLVED: To improve detection accuracy of positions or orientation of an object.;SOLUTION: An image comparison range generation method includes: feature acquisition procedure where a feature acquisition section 331 acquires feature points of a model represented in a template image and magnitude of features of the feature points for each template image with each of a plurality of images that are images of the model representing contours of an object, and each have the model different from one another in at least any of orientation and positions as the template image; and image comparison range acquisition procedure where an image comparison range acquisition section 334 acquires an image range used for comparing a photographed image of the object and the template image on the basis of the feature points of the model and the magnitude of the features of the feature points acquired by the feature acquisition section 331 for each of the template images as an image comparison range.;COPYRIGHT: (C)2014,JPO&INPIT