Method and apparatus for data processing recognizing an object represented as two-dimensional image

A method of data processing two-dimensional image data comprising:

• generating by a generating section, in response to an applied model parameter, a three-dimensional shape model and a model texture image related to respective portions of the three-dimension shape model, the model texture image having gradation information of a surface of an object that is independent of either an incident angle of light and a direction of lighting, the model texture image on the three-dimensional shape model being prepared in advance, and the model texture image being data prepared by projecting the model texture image onto a single continuous plane, the single continuous plane being defined as a cylindrical coordinate represented by a surface of a cylindrical plane surrounding the three-dimensional shape model on which each polygon of the three-dimensional shape model corresponds to a predetermined position;
• receiving an input two-dimension image;
• orthogonally projecting the input two-dimension image to the three-dimension shape model to form modified three-dimension shape model which is added gradation information to the respective polygon of the three-dimension shape model;
• mapping the gradation information of the modified three-dimension shape model onto the cylindrical plane to form the texture corresponding to the input two-dimension image;
• and
• calculating a parameter in accordance with the modulated two-dimensional image and applying the calculated parameter to said generating section, wherein the parameter is calculated by comparing on the plane the texture image with the generated model texture image.

A data-processing apparatus comprising:

• a generating section for generating, in response to an applied model parameter, a three-dimensional shape model and a model texture related to respective portions of the three-dimensional shape model, the model texture related to respective portions of the three-dimensional shape model being prepared in advance, and the model texture image being data prepared by projecting the model texture image onto a single continuous plane, the single continuous plane being defined as a cylindrical coordinate represented by a surface of a cylindrical plane surrounding the three-dimensional shape model on which each polygon of the three-dimensional shape model corresponds to a predetermined position;
• a receiving section for receiving an input two-dimensional image;
• a projecting section for orthogonally projecting the input two-dimension image to the three-dimension shape model to form modified three-dimension shape model which is added gradation information to the respective polygon of the three-dimension shape model;
• a mapping section for mapping the gradation information of the modified three-dimension shape model onto the cylindrical plane to form the texture corresponding to the input two-dimension image;
• a comparing section for comparing on the plane the mapped texture with the model texture;
• and
• a modifying section for modifying said applied model parameter in accordance with a result of said comparing section.