3D object recognition device and three-dimensional object recognition method

摘要

PROBLEM TO BE SOLVED: To provide a three-dimensional object recognition device configured to prevent false recognition of position/attitude of an object and to improve recognition accuracy, while improving processing speed, and a three-dimensional object recognition method.SOLUTION: A three-dimensional object recognition device stores a three-dimensional model representing a contour and surface shape of an object in three-dimensional model storing means, acquires an image by imaging the object from a predetermined direction, measures a three-dimensional point group indicating three-dimensional coordinates of the surface of the object, extracts an edge of the object from the acquired image or a three-dimensional measurement result, and evaluates position/attitude of the object by use of an evaluated contour value to be determined on the basis of the extracted edge and three-dimensional contour points indicating a contour shape of the three-dimensional model in all positions/attitudes, and an evaluated point group value to be determined on the basis of the three-dimensional measurement result and three-dimensional face points indicating a surface shape of the three-dimensional model in all positions/attitudes.