Patent ID: 11972589
Assignee: FUJI CORPORATION
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 8:
9. An image processing device, comprising:
a storage section storing a three-dimensional shape model in which feature amounts and three-dimensional positional information for multiple feature points of a target object are associated;
an extraction process section configured to extract the feature amounts and two-dimensional positional information of the feature points from a two-dimensional image of the target object captured with a camera; and
a recognition process section configured to identify three-dimensional positional information of the feature points for the two-dimensional image and recognize position and orientation of the target object by matching the feature points of the two-dimensional image with the feature points of the three-dimensional shape model using the feature amounts,
wherein the extraction process section is provided with a creation process device configured to acquire multiple two-dimensional images of the target object captured with the camera at multiple viewpoints in a state in which the target object to be a reference is disposed at a predetermined position, extract feature amounts and two-dimensional positional information of the feature points from multiple two-dimensional images, create three-dimensional positional information by obtaining height information of the feature points from parallax between the two-dimensional images, create the three-dimensional shape model in which the feature amounts and the three-dimensional positional information are associated with the feature points, and store the three-dimensional shape model in the storage section,
wherein the extraction process device acquires images, which are to become the two-dimensional images, captured by subsequently moving the camera from multiple viewpoints with respect to the predetermined position while the target object to be a reference is disposed at the predetermined position, and
wherein the extraction process device comprises a notification section configured to send out a warning when the amount of positional deviation of the target object from the predetermined position is equal to or greater than a predetermined allowable amount.