Patent ID: 8194929

Claim:
A position/attitude recognizing method comprising: a first shooting process of shooting, by a camera, a group of light spots on an object-to-be-measured on which the group of light spots are arranged, the group of light spots including a plurality of light spots which are dispersed and disposed three-dimensionally to be disposed not on one plane; and a first recognizing process of recognizing a position and an attitude of the object-to-be -measured based on an optical image representing each of the plurality of light spots included in the group of light spots on a first shot image obtained by the shooting in the first shooting process, wherein the object-to-be-measured is an object in which a group of light spots including three first light spots arranged at mutually separated positions and one second light spot arranged at a position which is separated away in a perpendicular direction from a triangular reference surface whose apexes are respectively the three first light spots are arranged.