Patent ID: 8654193

Claim:
A method for registering model data for optical recognition processing, wherein an optical sensor executes recognition processing of an object by imaging the object to be recognized with at least one camera, obtaining feature data representing a shape of the object by performing measurement processing using the generated image, and matching the obtained feature data with previously registered model data, and wherein the method for registering model data is a method for registering the model data used by the matching processing, the model data registration method comprising: a first step for inputting, with regard to the object to be recognized, basic model data representing a full-scale shape of the object in an optically-recognizable range; a second step for performing, for a predetermined number of cycles, with change to an attitude of the object in every cycle: measurement processing and imaging processing performed with the at least one camera on an actual model of the object to be recognized; and processing for matching feature data of the actual model obtained by the measurement processing with the basic model data or two-dimensional edge pattern data converted from the basic model data using transparent transformation; and a third step for deleting data that could not be associated with the feature data of the actual model from the data being matched with the feature data of the actual model in the second step, after the second step has been performed for the predetermined number of cycles, and adopting the remaining data as model data to be registered.