Title:
THREE-DIMENSIONAL OBJECT RECOGNIZING DEVICE AND THREE-DIMENSIONAL OBJECT RECOGNIZING METHOD
Document Type and Number:
WIPO Patent Application WO/2012/014545
Kind Code:
A1
Abstract:
[Problem] To provide a three-dimensional object recognizing device and a three-dimensional object recognizing method that can improve the processing speed for recognizing the object to be recognized. [Solution] A space having a three-dimensional model of the object to be recognized at the center is divided into a plurality of voxels, a distance field in which the distance to the closest point on the surface of the three-dimensional model and an ID expressing the closest point are recorded in each voxel is stored, the position and orientation of a three-dimensional sensor is temporarily set, the distance to the nearest point is acquired by entering, into each voxel of the corresponding distance field, each measurement point obtained by converting the point group measured by the three-dimensional sensor into the model coordinate system set forth the three-dimensional model, the squared sum of the distance between the point group and the nearest point recorded in the voxel corresponding to each measurement point is calculated for each position and orientation of the three-dimensional sensor, the extremal value in the evaluation of the positions and orientations of the three-dimensional sensor are determined on the basis of the results, and optimization is performed using the extremal value.
Inventors:
XU Gang (C/O 3D MEDIA CO, LTD 15-5, Noji 1-chome, Kusatsu-sh, Shiga 59, 〒5250059, JP)
徐 剛 (〒59 滋賀県草津市野路一丁目１５番５号 株式会社三次元メディア内 Shiga, 〒5250059, JP)
NAKAMICHI Tomohiro (C/O 3D MEDIA CO, LTD 15-5, Noji 1-chome, Kusatsu-sh, Shiga 59, 〒5250059, JP)
徐 剛 (〒59 滋賀県草津市野路一丁目１５番５号 株式会社三次元メディア内 Shiga, 〒5250059, JP)
NAKAMICHI Tomohiro (C/O 3D MEDIA CO, LTD 15-5, Noji 1-chome, Kusatsu-sh, Shiga 59, 〒5250059, JP)
Application Number:
JP2011/060867
Publication Date:
February 02, 2012
Filing Date:
May 11, 2011
Export Citation:
Assignee:
3D MEDIA CO., LTD (15-5, Noji 1-chome Kusatsu-sh, Shiga 59, 〒5250059, JP)
株式会社三次元メディア (〒59 滋賀県草津市野路一丁目１５番５号 Shiga, 〒5250059, JP)
XU Gang (C/O 3D MEDIA CO, LTD 15-5, Noji 1-chome, Kusatsu-sh, Shiga 59, 〒5250059, JP)
徐 剛 (〒59 滋賀県草津市野路一丁目１５番５号 株式会社三次元メディア内 Shiga, 〒5250059, JP)
株式会社三次元メディア (〒59 滋賀県草津市野路一丁目１５番５号 Shiga, 〒5250059, JP)
XU Gang (C/O 3D MEDIA CO, LTD 15-5, Noji 1-chome, Kusatsu-sh, Shiga 59, 〒5250059, JP)
徐 剛 (〒59 滋賀県草津市野路一丁目１５番５号 株式会社三次元メディア内 Shiga, 〒5250059, JP)
International Classes:
G01B11/24; B25J13/08; G06T1/00; G06T7/00
Attorney, Agent or Firm:
WATANABE Mitsuhiko (UMEDA PACIFIC Bldg. 5-10, Sonezaki 2-chome Kita-ku, Osaka-sh, Osaka 57, 〒5300057, JP)
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Claims:
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