THREE-DIMENSIONAL POSITION/POSTURE RECOGNITION DEVICE, INDUSTRIAL ROBOT, THREE-DIMENSIONAL POSITION/POSTURE RECOGNITION METHOD, PROGRAM AND STORING MEDIUM

摘要

PROBLEM TO BE SOLVED: To prevent miss-matching among different parts 91a-91c in stereo matching processing.;SOLUTION: Target areas R1 and R2 in which a recognition target part 91a is photographed are extracted from each of plural captured images I1 and I2 of plural parts 91a-91c including the recognition target part 91a taken from different view-point. Stereo matching processing is executed on each target area R1, R2 of plural captured images I1 and I2. That is, the target areas R1 and R2 to be subjected to the stereo matching processing are limited to the target area R1 including the recognition target part 91a in the captured images I1 and I2. Therefore, the stereo matching processing can be executed while excluding the parts 91b and 91c other than the recognition target part 91a from the target area R1. As a result, miss-matching among different parts are prevented in the stereo matching processing.;COPYRIGHT: (C)2013,JPO&INPIT