PROBLEM TO BE SOLVED: To accurately specify a position and attitude of an object having an opening on a plane part at a high speed.SOLUTION: There is provided an object state specification method for acquiring, by a sensor 102, actual measured values of a plurality of portions of an object 200 including a plane part with an opening on a surface thereof and specifying a position and attitude of the object 200, the method including: creating a model value group as a collection of model values representing a plurality of points being present on a surface of a corner model 300; calculating a model feature amount with at least one model value out of the model value group as a reference; calculating an actual feature amount by the same method as that for calculating the model feature amount; extracting a corresponding point value representing a position of a peripheral edge of the opening on the basis of the actual feature amount matching the model feature amount; and specifying the position and attitude of the object on the basis of the corresponding point value.SELECTED DRAWING: Figure 2

    【課題】平面部に開口部を備えた物体の位置および姿勢を高速かつ正確に特定する。【解決手段】開口部を有する平面部を表面に備える物体200の複数箇所について、実測値をセンサ102により取得し、物体200の位置、および、姿勢を特定する物体状態特定方法であって、コーナーモデル300の表面上に存在する複数点の位置を示すモデル値の集合であるモデル値群を作成し、モデル値群の中の少なくとも一つのモデル値を基準としてモデル特徴量を算出し、モデル特徴量を算出した手法と同じ手法で実特徴量を算出し、モデル特徴量にマッチした実特徴量に基づき開口部の周縁の位置を示す対応点値を抽出し、対応点値に基づき物体の位置、姿勢を特定する。【選択図】図2


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    Title :

    OBJECT STATE SPECIFICATION METHOD, OBJECT STATE SPECIFICATION APPARATUS, AND CONVEYANCE VEHICLE


    Additional title:

    物体状態特定方法、物体状態特定装置、および、搬送車


    Contributors:

    Publication date :

    2017-08-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last



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