Object recognition apparatus, method for recognizing object, and non-transitory computer-readable storage medium for storing program

An object recognition method comprising:

• executing an acquisition process that includes acquiring RGB-depth (D) Image data on a target object in which an object is stored, the RGB-D image data being acquired by an RGB-D camera;
• executing a presumption process that includes presuming a frontmost plane of the target object from the acquired RGB-D image data;
• executing a sorting process that includes sorting features of the target object at a position specified by the presumed frontmost plane from among features extracted based on the RGB-D image data;
• and
• executing a computing process that includes computing a position and an orientation of the target object by performing matching between the RGB-D image data and a template of the target object using the sorted features.

A non-transitory computer-readable storage medium for storing a program which causes a processor to perform processing for object recognition, the processing comprising:

• executing an acquisition process that includes acquiring RGB-depth (D) Image data on a target object in which an object is stored, the RGB-D image data being acquired by an RGB-D camera;
• executing a presumption process that includes presuming a frontmost plane of the target object from the acquired RGB-D image data;
• executing a sorting process that includes sorting features of the target object at a position specified by the presumed frontmost plane from among features extracted based on the RGB-D image data;
• and
• executing a computing process that includes computing a position and an orientation of the target object by performing matching between the RGB-D image data and a template of the target object using the sorted features.