Patent ID: 7200260

Claim:
A teaching model generating device for image processing, in which a subject object has the same or substantially similar shape as that of a reference object, the device comprising: an image processing system with which a current three-dimensional orientation of the subject object relative to an image pickup device is recognized by carrying out pattern matching processing of an image of the subject based on a plurality of pre-determined teaching models of the reference object; and an image-capture system, in advance of the recognizing, generating and storing the plurality of teaching models on the basis of respective image data produced by taking images of said reference object from a plurality of directions, wherein one of the reference object and said image pickup device is fixed to a movable and positionable part of a robot or is grasped with a hand of the robot, and said robot is operated for positioning to a plurality of different image pickup positions and directions, so that the image data respectively obtained at each of said different image pickup positions and direction information indicating the respective different direction, is stored as a teaching model.