Patent ID: 9087265
Filing Date: 2015-07-21
Classification: G01B,G06K

Abstract:
1. A recognition apparatus for recognizing a position and an orientation of a target object, comprising: a processor and a memory which together comprise: an extraction unit configured to detect a plurality of feature portions from a captured image, and to extract a plurality of feature amounts indicating image characteristics in each of the plurality of feature portions; a first input unit configured to input normal vectors in the plurality of feature portions on the target object; a second input unit configured to input at least one of direction of illumination and direction of image capture apparatus at the time of capturing the captured image; a holding unit configured to hold information with respect to angles between normal vectors in a plurality of feature portions on the target object in a learning image and at least one of direction of illumination and direction of image capture apparatus at the time of capturing the learning image in a learning process; a determination unit configured to determine respective degrees of importance of the plurality of extracted feature portions based on the input normal vectors, the input at least one of direction of illumination and direction of image capture apparatus, and the held information with respect to angles; a weighting unit configured to weight each of the plurality of extracted feature amounts based on the determined corresponding degree of importance; and a recognition unit configured to recognize the position and the orientation of the target object based on the plurality of feature amounts weighted by the weighting unit.