Robotic device, the position and orientation detecting device, the position and orientation detection program, and the position and orientation detection method

摘要

PROBLEM TO BE SOLVED: To highly precisely detect a position and an attitude of a target object represented by a plane image in a three-dimensional space.SOLUTION: The robot device includes: an image pickup device 11 for capturing an image of a target object and generating image data; a robot body 12 movably supporting the image pickup device 11; a template information storage section that stores template information including template image data of a surface with respect to the visual line direction, information representing the position and attitude of the surface in a robot coordinate system, and information representing the position and attitude of the image pickup device 11 in the robot coordinate system, for every visual line direction from the image pickup device 11 with respect to a reference; and a position/attitude data generation section that detects a surface visible from the image of the target object included in the image data generated by the image pickup device 11, reads the template information corresponding to the visible surface from the template information storage section, and generates a position/attitude data representing the position and attitude of the target object in the robot coordinate system based on the template information.