OBJECT IDENTIFICATION DEVICE, MODEL DATA REGISTRATION DEVICE, OBJECT IDENTIFICATION METHOD, OBJECT IDENTIFICATION PROGRAM, AND ROBOT

摘要

PROBLEM TO BE SOLVED: To enable model data of a three-dimensional object to be stored with a small memory capacity and reduce an operation amount for comparison.;SOLUTION: An object identification device comprises a reference point extraction unit 102 for extracting a reference point from shape data of a target object model, a cube data generation unit 103 for generating virtual cube data whose center is the reference point and which includes the target object model, a triangle division unit 104 for dividing each face of the cube into two isosceles right triangles or, based on a re-division instruction from a recognition unit, re-dividing each isosceles right triangle along the perpendicular connecting the right angle and the hypotenuse midpoint, a model data generation unit 106 for generating four sets of mode data based on features of the target object model when viewed from each viewpoint of the vertices and hypotenuse midpoint of one of the divided isosceles right triangles, a registration model data storage unit 108 for storing registration model data, the recognition unit 105 for recognizing the model data from each viewpoint using the registration model data, and a model data registration unit 107 for allowing the registration model data storage unit to store model data from a viewpoint at which the model data cannot be recognized.;COPYRIGHT: (C)2012,JPO&INPIT