Method, System, And Computer Program For Recognizing Position And Attitude Of Object Imaged By Camera

A system of recognizing a position and an attitude of an object imaged by a camera, comprising:

• a feature extraction unit extracting distinctive features used for respectively distinguishing a plurality of similar attitudes from which images similar to one another are obtained using a simulation model of the object;
• and
• a recognition unit recognizing the position and the attitude of the object using an object image of the object captured by the camera, wherein
• the recognition unit executes
• (a) processing of estimating the position and the attitude of the object using the object image, and
• (b) when the estimated attitude corresponds to one of the plurality of similar attitudes, processing of determining the one of the plurality of similar attitudes as the attitude of the object using the distinctive features.

A computer program for controlling a processor to execute processing of recognizing a position and an attitude of an object imaged by a camera, the computer program for controlling the processor to execute

• (a) processing of extracting distinctive features used for respectively distinguishing a plurality of similar attitudes from which images similar to one another are obtained using a simulation model of the object;
• (b) processing of capturing an object image of the object using the camera;
• (c) processing of estimating the position and the attitude of the object using the object image;
• and
• (d) when the estimated attitude corresponds to one of the plurality of similar attitudes, processing of determining the one of the plurality of similar attitudes as the attitude of the object using the distinctive features.