Title:
POSITION AND POSTURE ESTIMATION DEVICE AND POSITION AND POSTURE ESTIMATION METHOD
Document Type and Number:
Japanese Patent JP2021012628
Kind Code:
A
Abstract:
To make it possible to estimate the position and posture of a workpiece more accurately than before even if part of the workpiece is blocked by another object.SOLUTION: A position and posture estimation device comprises: an image acquisition unit 11 that acquires a visible image, a position image, and a normal image; a general estimation unit 12 that estimates the position and posture of a workpiece on the bass of the visible image acquired from the image acquisition unit 11; a rotation correction unit 13 that determines effective pixels on the image on the basis of a result of acquisition performed by the image acquisition unit 11 and the position and posture estimated by the general estimation unit 12, compares a normal vector of a three-dimensional model of a workpiece projected on the image at the position and posture with a normal vector indicated by the normal image, and corrects the amount of rotation in the position and posture; and a translation correction unit 14 that determines effective pixels on the image on the basis of the result of acquisition performed by the image acquisition unit 11 and the position and posture after the correction performed by the rotation correction unit 13, compares the three-dimensional position of the three-dimensional model of the workpiece projected on the image at the position and posture with the three-dimensional position indicated by the position image, and corrects the amount of translation in the position and posture.SELECTED DRAWING: Figure 1
Inventors:
HOSOI TOMOKI
Application Number:
JP2019127595A
Publication Date:
February 04, 2021
Filing Date:
July 09, 2019
Export Citation:
Assignee:
AZBIL CORP
International Classes:
G06T7/70; B25J13/08
Attorney, Agent or Firm:
Hamada Hatsune
Nakashima Shigeru
Tsujioka Masaaki
Kazuma Inoue
Nakashima Shigeru
Tsujioka Masaaki
Kazuma Inoue