ATTITUDE ESTIMATION MODEL GENERATION DEVICE AND ATTITUDE ESTIMATION DEVICE

摘要

PROBLEM TO BE SOLVED: To provide an attitude estimation model generation device and an attitude estimation device capable of accurately performing attitude estimation with a passive configuration.SOLUTION: An attitude estimation device 1 comprises an RGB image acquisition unit 10 which acquires an RGB image set, a depth image generation unit 11 which generates a depth image corresponding to the RGB image set, and an attitude estimation model generation unit 13 which estimates an attitude of an object by learning a relation between brightness distribution in the periphery of the same pixel of interest and/or depth value distribution in the periphery of the pixel of interest in the depth image, and a three-dimensional coordinate of the object.SELECTED DRAWING: Figure 1