Position and orientation recognition program and the position and orientation recognition method, and its position and orientation recognition device

摘要

A three-dimensional image data is formulated and saved in a memory for indicating a three-dimensional shape of an object and reflectivity or color at every point of the object. For each of multiple pose candidates, an image space is created for representing brightness values of a set of two-dimensional images of the object which is placed in the same position and orientation as the each pose candidate. The brightness values are those which would be obtained if the object is illuminated under varying lighting conditions. For each pose candidate, an image candidate is detected within the image space using the 3D model data and a distance from the image candidate to an input image is determined. Corresponding to the image candidate whose distance is smallest, one of the pose candidates is selected. The image space is preferably created from each of a set of pose variants of each pose candidate.