Patent ID: 11941898
Assignee: HITACHI, LTD.
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 3:
4. A three-dimensional position recognition method of an object in a three-dimensional position recognition device, comprising steps of:
storing model data of each object by an external memory;
measuring a distance between an image of an object and the object by a sensor unit;
outputting, by an image recognition unit, an object type and an object region coordinate based on the two-dimensional image of the object acquired by the sensor unit;
outputting, by a parameter calculating unit, resolution for each object based on the object type and the object region coordinate from the image recognition unit, and an allowable error for each object;
outputting, by a data thinning unit, based on the resolution from the parameter calculating unit, thinned data from model data of the object read from the external memory according to the object type from the image recognition unit;
generating, by a data structuring unit, structured model data from the thinned data;
storing, by an internal memory, the structured model data generated by the data structuring unit;
generating, by a point cloud generating unit, the measurement point cloud data from the two-dimensional image acquired from the sensor unit;
outputting, by a resolution conversion unit, the measurement point cloud data as measurement point cloud data of a plurality of resolutions after resolution conversion;
performing, by a K neighborhood point searching unit, K neighborhood point search using the structured model data stored in the internal memory and the predetermined measurement point cloud data from the resolution conversion unit;
performing, by a rotation and translation estimating unit, rotation and translation estimation using output of the K neighborhood point searching unit, and the structured model data stored in the internal memory;
repeating, by a first loop, processing of the K neighborhood point searching unit and the rotation and translation estimating unit until an error of the structured model data stored in the internal memory and the measurement point cloud data of the resolution conversion unit is a certain value or less; and
repeating, by a second loop, the processing of the K neighborhood point searching unit and the rotation and translation estimating unit with respect to measurement point cloud data of the plurality of the resolutions from the resolution conversion unit.