To alter a model coordinate system of a three-dimensional model so that coordinates and a rotation angle outputted from a three-dimensional visual sensor may be made adaptable to control of a robot.
The three-dimensional model prepared for three-dimensional recognition and the model coordinate system indicating a reference attitude of the model are subjected to perspective transformation to form a projection image expressing the relation between the model and the system, and a work screen containing the projection image is started up. In work areas 204 and 205 of this screen, coordinates of the origin O and the respective rotation angles RTx, RTy and RTz of axes X, Y and Z in the projection image are displayed and an operation for altering these values is accepted. When the altering operation is conducted, the display of the projection image is also changed according to the operation. When an OK button 208 below the screen is operated after the alteration, the coordinates and the rotation angles displayed in the work areas 204 and 205 are fixed and the model coordinate system is altered on the basis of these values. The coordinates of respective constituent points of the three-dimensional model are also transformed into coordinates based on the model coordinate system after the alteration.
TANENO ATSUSHI
TAKAHASHI REIJI
YOSHINO MASANAO
UKAI KENICHI
| JP2007245283A | 2007-09-27 | |||
| JP2009264956A | 2009-11-12 | |||
| JP2004191335A | 2004-07-08 | |||
| JPH08136220A | 1996-05-31 | |||
| JP2000234915A | 2000-08-29 | |||
| JP2007245283A | 2007-09-27 | |||
| JP2009264956A | 2009-11-12 | |||
| JP2004191335A | 2004-07-08 |
Yukino Koishikawa