MODEL GENERATION DEVICE, POSITION POSTURE ESTIMATION DEVICE, INFORMATION PROCESSOR, MODEL GENERATION METHOD, POSITION POSTURE ESTIMATION METHOD, INFORMATION PROCESSING METHOD

摘要

PROBLEM TO BE SOLVED: To solve the problem that processing costs of grouping processing of geometric features become higher and rapidity of position posture estimation processing is spoiled depending on the number of geometric feature and a grouping method when the grouping processing of the geometric features is performed simultaneously as estimation processing of a position posture.SOLUTION: A three-dimensional shape model of a target object is input. A position posture for arranging at least one imaging apparatus which picks up the target object is set so that a relative position posture between the target object and the imaging apparatus is virtually set to the three-dimensional model of the target object. The set position posture of the imaging apparatus is selected. Grouping of the geometric features is performed based on relation between an image which should be obtained in the selected position posture of the imaging apparatus and the geometric features of the three-dimensional shape model.