A three-dimensional object recognition device (100)includes: a matching unit (124) configured to compare athree-dimensional object in an image based on the image datawith a three-dimensional shape model corresponding to thethree-dimensional object to associate correlated featurepoints with each other by pattern matching; a model updatingunit (128) configured to update the three-dimensional shapemodel based on the feature points associated by the matchingunit; a motion estimation unit (130) configured to estimatemotion of the three-dimensional object based on a history ofthe position and attitude of the three-dimensional shape modelupdated by the model updating unit to estimate athree-dimensional shape model at an arbitrary time in thefuture; and a validity determination unit (126) configured tocompare the feature points associated by the matching unit withthe three-dimensional shape model estimated by the motionestimation unit and cause the model updating unit to update thethree-dimensional shape model based on only the feature pointsdetermined to be valid.
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