Patent ID: 9576363
Date: 2017-02-21
CPC Classifications: G06K,G06T

Claim:
1. A device for detecting an object comprising a non-transitory computer readable medium with computer executable instructions stored thereon which, when executed by a processor, perform the following operations: obtaining an image of objects from a visual sensor; extracting one or more local characterized parts from the image; detecting one or more object regions formed by a combination of the one or more extracted local characterized parts; storing predetermined rotation angles of an object models corresponding to the objects, and object regions of the object model obtained for each predetermined rotation angle in a storage; comparing the detected one or more object regions with the object regions of the object models stored in the storage unit, and extract one or more candidate object regions; selecting a candidate object region as an operation target object region conforming to a predetermined determination reference among the one or more candidate object regions; and outputting a rotation angle of the object model compared with the operation target object region as operation target object information, wherein, when the one or more candidate object region is a single candidate object region, the single candidate object region is selected as the operation target object region, and wherein, when the one or more candidate object region includes a plurality of candidate object regions, a candidate object region having a smallest absolute value of rotation angle among the plurality of candidate object regions is selected as the operation target object region.