Image processing method, image processing device, and robot system

A method for generating an edge image that includes a plurality of edge points, comprising:

• acquiring a plurality of images by capturing a target object;
• extracting edges from the plurality of images;
• calculating a variance of similarity between corresponding edge points of the edges extracted from the plurality of images;
• and
• generating an edge image while leaving edge points for which the variance satisfies a predetermined condition and while eliminating edge points for which the variance does not satisfy the predetermined condition.

A non-transitory computer readable storage medium storing a program for causing a computer to implement the method comprising:

• acquiring a plurality of images by capturing a target object;
• extracting edges from the plurality of images;
• calculating a variance of similarity between corresponding edge points of the edges extracted from the plurality of images;
• and
• generating an edge image while leaving edge points for which the variance satisfies a predetermined condition and while eliminating edge points for which the variance does not satisfy the predetermined condition.

A system, comprising:

• an image processing apparatus configured to execute
• acquiring a plurality of images by capturing a target object,
• extracting edges from the plurality of images,
• calculating a variance of similarity between corresponding edge points of the edges extracted from the plurality of images, and
• generating an edge image for pattern matching while leaving edge points for which the variance satisfies a predetermined condition and while eliminating edge points for which the variance does not satisfy the predetermined condition;
• and
• a storage configured to store the generated edge image for the pattern matching.

A method for controlling a system, comprising:

• acquiring a plurality of images by capturing a target object;
• extracting edges from the plurality of images;
• calculating a variance of similarity between corresponding edge points of the edges extracted from the plurality of images;
• generating an edge image for pattern matching while leaving edge points for which the variance satisfies a predetermined condition and while eliminating edge points for which the variance does not satisfy the predetermined condition;
• and
• storing the generated edge image for the pattern matching.