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Object recognition device for picking or devanning, object recognition method for picking or devanning, and program
Object recognition device for picking or devanning, object recognition method for picking or devanning, and program
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机译：用于挑选或拆除的对象识别设备，用于挑选或拆除的对象识别方法和程序
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摘要
PROBLEM TO BE SOLVED: To make a device such as a robot execute a picking process or a devanning process even when a 3D CAD model of an object does not exist. An object area detection unit 23 detects an area of an object 2 in an image by using at least one of a distance image and an captured image. The three-dimensional point cloud acquisition unit 24 acquires a three-dimensional point cloud corresponding to the object based on the detection result of the region of the object 2 and the distance image and the captured image. The equation of a plane calculation unit 25 calculates the equation of a plane used for detecting the posture of the object 2 based on the data of the three-dimensional point cloud corresponding to the object 2. The attitude detection unit 26 detects the attitude of the object 2, that is, the inclination, based on the calculation result of the plane equation, the three-dimensional point cloud corresponding to the object 2, and the distance image and the captured image. The picking position detection unit 27 calculates the position information when the robot 14 performs picking or devanning. [Selection diagram] Fig. 2
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