Detection method and detection apparatus for detecting three-dimensional position of object

A detection apparatus for detecting a three-dimensional position of an object in a system including a robot, and an imaging unit supported adjacent to a distal end of the robot, the detection apparatus comprising:

• an image storage unit that stores a first image and a second image imaged by the imaging unit when the robot is moving;
• a position/orientation information storage unit that stores first position/orientation information of the robot when the first image is imaged and second position/orientation information of the robot when the second image is imaged;
• a position information storage unit that detects an object from the first image and stores first position information of the object in an imaging unit coordinate system, and detects the object from the second image and stores second position information of the object in the imaging unit coordinate system;
• a line-of-sight information calculating unit that calculates first line-of-sight information of the object in a robot coordinate system using the first position/orientation information of the robot and the first position information of the object, and calculates second line-of-sight information of the object in the robot coordinate system using the second position/orientation information of the robot and the second position information of the object;
• and
• a three-dimensional position detecting unit that detects a three-dimensional position of the object based on an intersection point of the first line-of-sight information and the second line-of-sight information.