Patent ID: 9082017
Filing Date: 2015-07-14
Classification: G06K,G06T,Y10S

Abstract:
1. A control device comprising: a storing unit storing multiple first feature values for multiple images of a reference model, wherein the reference model is a three-dimensional model of an object and each of the first feature values includes a position and an orientation of the object for each of the images, and the position and the orientation of the reference model is different in each of the images; an image acquiring unit acquiring a photographed image of the object; a detecting unit calculating a second feature value for the photographed image, wherein the detecting unit selects a candidate image from the images of the reference model by comparing the second feature value with the first feature values; a driving control unit controlling a motion of a robot main body based on the position and the orientation of the reference model associated with the candidate image; and a detailed detection unit, wherein the detecting unit extracts a plurality of sets of position data and orientation data associated with the second feature value from the storing unit, the detecting unit sets, according to the plurality of sets of position data and orientation data, a given position and a given orientation in the three-dimensional space of the reference model, and acquires a first set of two-dimensional images for the plurality of sets of position data and orientation data, the detecting unit detects a first position data and a first orientation data corresponding to a first subject image, the first subject image is among the first set of two-dimensional images and has a highest correlation with the photographed image from among the first set of two-dimensional images, the detailed detection unit captures the first position data and the first orientation data of the first subject image detected by the detecting unit, the detailed detection unit sets, according to the first position data and the first orientation data, a position and an orientation in the three-dimensional space of the reference model and acquires a second set of two-dimensional images, the detailed detection unit calculates a second subject image, the second subject image is among the second set of two-dimensional images and has a highest correlation with the photographed image from among the second set of two-dimensional images, the second subject image is calculated according to a nonlinear minimization method, the detailed detection unit detects a second position data and a second orientation data corresponding to the second subject image, and the driving control unit controls the robot main body on the basis of the second position data and the second orientation data of the second subject image detected by the detailed detection unit to change the position and the orientation of a hand of the robot main body.