METHOD FOR RECOGNITION AND POSITION ATTITUDE DETERMINATION OF THREE-DIMENSIONAL OBJECT AT THREE-DIMENSIONAL SCENE

摘要

PROBLEM TO BE SOLVED: To enable efficient recognition of an arbitrary three-dimensional object having a free shape at a three-dimensional scene, and to enable extraction of a three-dimensional position attitude.;SOLUTION: A method for recognition of a substance of a three-dimensional object in three-dimensional scene data comprises: a step (a) for preparing three-dimensional scene data; a step (b) for selecting at least one reference point from the three-dimensional scene data; a step (c) for calculating a target position attitude of the three-dimensional object, for the respective reference point selected, based on the assumption that the reference point is a part of the three-dimensional object; and a step (d) for filter processing the position attitude candidate to calculate a group of position attitudes; so as to determine the three-dimensional position attitude of the substance.;COPYRIGHT: (C)2012,JPO&INPIT