Title:
POSITION POSTURE ESTIMATION DEVICE, POSITION POSTURE ESTIMATION METHOD, AND POSITION POSTURE ESTIMATION PROGRAM
Document Type and Number:
Japanese Patent JP2018072198
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide a position posture estimation device and position posture estimation method that cut down calculation costs upon estimating a position and posture of a target object.SOLUTION: A target object detection unit is configured to detect point group data representing a target object from the detected point group data (S100). A pattern group generation unit is configured to generate a pattern group having a position and posture of model data changed respectively at a position of the point group data representing the target object (S108). An image conversion unit is configured to convert the detected point group data, and point group data on each pattern of the pattern group generated by the pattern group generation unit into a distance image (S110). An image collation unit is configured to collate the distance image of the detected point group data with each of the distance image of the point group data on each pattern of the pattern group (S112). A position posture estimation unit is configured to select the distance image of the point group data on the pattern on the basis of a collation result obtained by the image collation unit, and estimate a position and posture of the target object on the basis of the pattern corresponding to the selected distance image (S114).SELECTED DRAWING: Figure 11
Inventors:
NAGAMURA KAZUKI
SUKAMA YASUSHI
MURASE TAICHI
YOSHITAKE TOSHIYUKI
SUKAMA YASUSHI
MURASE TAICHI
YOSHITAKE TOSHIYUKI
Application Number:
JP2016212896A
Publication Date:
May 10, 2018
Filing Date:
October 31, 2016
Export Citation:
Assignee:
FUJITSU LTD
International Classes:
G01B11/00; G01B11/26; G06T7/60
Attorney, Agent or Firm:
Atsushi Nakajima
Kato Kazunori
Hiroshi Fukuda
Kato Kazunori
Hiroshi Fukuda