Patent ID: 7809159
Filing Date: 2010-10-05
Classification: G06T

Abstract:
1. An estimation system for estimating an object state, comprising: image input means for inputting an input image containing an object whose state is to be estimated, the state being at least one of a position and posture; 3D shape data storage means for storing 3D shape data of the object; comparison image generation means for generating, as a comparison image, an image containing the object in a predetermined state by using the 3D shape data stored in said 3D shape data storage means; image displacement distribution detection means for segmenting the comparison image generated by the comparison image generation means into partial images each corresponding to a sub region with a predetermined size; image positional relationship detection means for detecting, for each sub region, a positional relationship between the input image and the comparison image generated by said comparison image generation means; correction amount calculation means for calculating a correction amount of the object state in the comparison image by using the positional relationship detected by said image positional relationship detection means; and state correction means for correcting the object state set in comparison image generation by said comparison image generation means by using the correction amount obtained by said correction amount calculation means, thereby calculating a new object state.