Title:
RECOGNITION DEVICE, ROBOT CONTROL SYSTEM, RECOGNITION METHOD AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2022/190534
Kind Code:
A1
Abstract:
By comparing a measurement image representing the results of measuring a measurement area which includes a prescribed object, and a three-dimensional model of the prescribed object, this recognition device recognizes the position and orientation of the prescribed object in the measurement image. The recognition device is provided with: an inference means which, on the basis of the position and orientation of the aforementioned prescribed object that was recognized in the past by the recognition device, infers the position and orientation of the prescribed object in the present; and a recognition means which sets the position and orientation inferred by the inference means as the initial values of the position and orientation of the three-dimensional model of the prescribed object and, depending on the results of fitting the three-dimensional model to the prescribed object in the measurement image, recognizes the position and orientation of the prescribed object in the measurement image.
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Inventors:
KOZAI KENTARO (JP)
HASEGAWA TAKAHIRO (JP)
AOKI GO (JP)
HASEGAWA TAKAHIRO (JP)
AOKI GO (JP)
Application Number:
PCT/JP2021/047103
Publication Date:
September 15, 2022
Filing Date:
December 20, 2021
Export Citation:
Assignee:
OMRON TATEISI ELECTRONICS CO (JP)
International Classes:
B25J13/08; G01B11/00; G06T7/70
Foreign References:
| JP2011027724A | 2011-02-10 | |||
| JP2013036988A | 2013-02-21 | |||
| JP2013036987A | 2013-02-21 | |||
| JP2020135623A | 2020-08-31 | |||
| JP2021012172A | 2021-02-04 |
Attorney, Agent or Firm:
IP FIRM SHUWA (JP)
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