Title:
三次元位置・姿勢認識装置、産業用ロボット、三次元位置・姿勢認識方法、プログラム、記録媒体
Document Type and Number:
Japanese Patent JP5839671
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To precisely execute three-dimensional recognition of a part 91.SOLUTION: Stereo matching processing is executed on two captured images I1 and I2 of a part 91 taken from different position to obtain a parallax image Is representing a parallax p between the two captured images I1 and I2. Also, an edge E is extracted from the captured image I1 to obtain an edge image Ie representing an edge E of the part 91. A parallax p at a position on the edge E of the part 91 represented by the edge image Ie is extracted from the parallax p included in the parallax image Is, and three-dimensional position and posture of the part 91 are recognized based on the extracted parallax p. With this, the three-dimensional position and posture of the part 91 can be recognized based on the parallax p of an edge E portion of the part 91. As a result, the three-dimensional recognition can be precisely executed.
Inventors:
Yasushi Sasa
Application Number:
JP2011204945A
Publication Date:
January 06, 2016
Filing Date:
September 20, 2011
Export Citation:
Assignee:
Screen Holdings Co., Ltd.
International Classes:
G01B11/00; B25J19/04; G01B11/26; H04N5/225
Domestic Patent References:
| JP9027969A | ||||
| JP2008082870A | ||||
| JP2010128608A | ||||
| JP2008309671A | ||||
| JP2002216113A |
Foreign References:
| WO2000057129A1 |
Attorney, Agent or Firm:
Kakusho Shoichi
Ryose Uji
Kazumasa Onishi
Ryose Uji
Kazumasa Onishi