POSITION ATTITUDE MEASUREMENT DEVICE, POSITION ATTITUDE MEASUREMENT METHOD AND COMPUTER PROGRAM

摘要

PROBLEM TO BE SOLVED: To more robustly measure the position and attitude of an object with high accuracy from an image of the object of a measurement object whose three-dimensional shape is known.SOLUTION: A position attitude measurement device includes first acquisition means for acquiring a two-dimensional image of an object of a measurement object, second acquisition means for acquiring three-dimensional shape data representing the shape of the object, storage means for storing a shape model of the object, first calculation means for calculating the position and attitude of a principal plane of the object as a first position and attitude of the object on the basis of the three-dimensional shape data of the object acquired by the second acquisition means and the shape model of the object stored in the storage means, and second calculation means for calculating a second position and attitude on a three-dimensional space of the object by collating the two-dimensional image acquired by the first acquisition means with the shape model on the basis of the first position and attitude calculated by the first calculation means.SELECTED DRAWING: Figure 1