Method for Accurately Determining the Position and Orientation of Each of a Plurality of Identical Recognition Target Objects in a Search Target Image

摘要

Embodiments of the invention relate to detecting the number, position, and orientation of objects when a plurality of recognition target objects are present in a search target image. Dictionary image data is provided, including a recognition target pattern, a plurality of feature points of the recognition target pattern, and an offset (O_x, O_y) from the coordinates at the center of the image to the coordinates of the feature point. The sizes (R_t) and directions (θ_t) of feature vectors for the coordinates (T_x, T_y) of a plurality of feature points in the target image are also provided. The coordinates (F_x, F_y) of a virtual center point in the target image is derived. Additional virtual center points within a radius of the coordinates (F_x, F_y) is counted. Presence of a recognition target object is recognized near the virtual center point coordinates of the search target image.