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

Claim 0:
1. 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,
setting approximate positions of the feature points by the matching,
projecting an image of the three-dimensional shape model on the two-dimensional image based on the set approximate positions,
adjusting the approximate positions so as to increase a degree of overlap between the projected image and the two-dimensional image based on a brightness difference between a pixel of interest and an overlapping pixel, and
identifying the three-dimensional positional information of the feature points at a position of maximum overlap between the projected image and the two-dimensional image, and recognizing the position and orientation of the target object.