POSITION AND ATTITUDE DETERMINATION METHOD, POSITION AND ATTITUDE DETERMINATION DEVICE, OBJECT MODEL GENERATION METHOD, OBJECT MODEL GENERATION DEVICE AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To identify a three-dimensional object in an image robustly against attitude variation and size variation thereof.;SOLUTION: A position and attitude determination method comprises: a model input step for inputting an object model described by a feature amount of a feature point of a model corresponding to a target object and a three-dimensional directional vector from the origin of three-dimensional coordinates set for the model to the feature point; an acquisition step for acquiring an image obtained by photographing the target object; a detection step for detecting the position of a two-dimensional feature point on the image, of the feature point of the object based on the feature amount; a change step for changing the position and attitude of the object model; a projection step for projecting, on the image, the feature point of the object model and the origin of three-dimensional coordinates at each changed position and in each changed attitude as a projection feature point and a projection origin; a calculation step for calculating a matching degree between a first directional vector from the projection origin to the two-dimensional feature point and a second directional vector from the projection origin to the projection feature point; and a determination step for determining the position and attitude of the object model which maximize an evaluation value based on the calculated matching degree for each feature point as the position and attitude of the target object.;COPYRIGHT: (C)2012,JPO&INPIT