Method and device for estimating attitude of body

Abstract

Abstract PURPOSE:To estimate the three-dimensional attitude of the body at high speed and to apply the method and device widely to an industrial visual sensor or the visual system of a robot by using the relative correlation between the three- dimensional position of a body model which is stored previously and a set of directed segments obtained from an image input. CONSTITUTION:An image and body correspondence device 3 generates a table of correspondence between feature segments and feature points of the camera input image extracted by an input image feature extraction device 1 and feature descriptions stored in a body model description storage device 2. A specified segment set and point couple attitude estimation device 4 estimates all candidates for a specified segment set and specified point couples selected by the device 3. A segment set attitude determination device 5 estimates an image of the segment set and point segment in each rigid body included in the device 2 from the attitude candidates estimated by the device 4 and collimates this with the image to select an adequate attitude. Consequently, the attitude of the object camera subject body can be estimated.

Inventors

• 👤 Takeshi Shiyakunaga
• 👤 尺長　健

Bibliographic Details