Position and orientation of an object using stereo image recognition system as well as a program for executing the position and orientation of an object recognition method

摘要

PPROBLEM TO BE SOLVED: To provide a system for recognizing a position and a posture of an object, using a stereoscopic image, capable of recognizing the position and the posture of the object, without searching a corresponding point requiring a calculation cost and having completely unavoidable erroneous recognition, a method of recognizing the position and the posture of the object using the system, and a program for executing the method. PSOLUTION: This system 10 for recognizing the position and the posture of the object has an imaging part 11, a space model setting part 16 for setting a space model based on a rough shape of the object, a rectangular area setting part 19 for setting a virtual rectangular area set on the space model, a comparison window setting part 22 for projecting the rectangular area on the stereoscopic image, a partial image generating part 29 for extracting a partial image within a comparison window, and a matching computation part 33 for matching the stereoscopic image while changing a position and a posture of the space model. PCOPYRIGHT: (C)2008,JPO&INPIT