POSTURE DETECTION DEVICE, POSITION DETECTION DEVICE, ROBOT, ROBOT SYSTEM, POSTURE DETECTION METHOD AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To facilitate posture estimation of an object while keeping accuracy of the posture estimation of the object.;SOLUTION: A posture detection device includes: a first difference degree calculation unit 151 for calculating first difference degrees indicating degrees of the differences between an image obtained by imaging an object by a first imaging device, and a model image of the object, for each posture of the object in the model image; a posture acquisition unit 152 for, on the basis of conversion rules, acquiring multiple postures of the object in second virtual space corresponding to multiple postures of the object in first virtual space; a second difference degree calculation unit 153 for calculating second difference degrees indicating degrees of the differences between an image obtained by imaging the object by a second imaging device, and the model image of the object, for each posture of the object in the model image; and a posture estimation unit 154 for, on the basis of the multiple first difference degrees and the multiple second difference degrees, estimating the posture of the object in a coordinate system of the first imaging device.;COPYRIGHT: (C)2014,JPO&INPIT