Patent ID: 7321370

Claim:
An object collation method comprising: a registration procedure for registering registered data of a registered object in a database; and a collation procedure for collating an input image of a target object with said registered data; said target object having a location and position; said registration procedure comprising the steps of: storing a three-dimensional shape of the registered object; and storing a texture space calculated from a texture group indicating luminance and/or color information of each position of a surface of the registered object under various illumination conditions; said collation procedure comprising the steps of: taking a two-dimensional image of the target object as the input image; generating an illumination fluctuation space, which is an image space to represent the input images of the target objects at the location and position of each target object under various illuminating conditions, defined by an image group which is obtained by converting said three-dimensional shape and said texture space according to said location and position; and collating the target object and the registered object based on distance between said illumination fluctuation space and said input image, wherein a result of said collating step is used to determine whether said target object is said registered object.