3D object recognition method and bin picking system using the same method

摘要

A three-dimensional object recognition method that can be used for a bin picking system, a step (a) for obtaining the first and second images of an object, a step (b) for detecting the two-dimensional features of the object in the first and second images, and a step by comparing the object data of the object A step (c) for evaluating the reliability of a (b), a step (d) for associating two dimensional features of the first and second images, and evaluating the reliability of the step (d) by comparing the two-dimensional features of the first image with two dimensional features in the second image (E) A step (f) for recognizing the three-dimensional position and posture of the object based on the three-dimensional information of the two-dimensional feature obtained from the correspondence is included, and a step (g) for evaluating the recognized three-dimensional position and posture reliability is included.