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Image processing device

  • US 20040190766A1
  • Filed: 03/24/2004
  • Published: 09/30/2004
  • Est. Priority Date: 03/25/2003
  • Status: Abandoned Application
First Claim
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1. An image processing device for determining three-dimensional position and/or orientation of an object, comprising:

  • image data capturing means for capturing image data containing an image of the object;

    model pattern creating means for creating a model pattern based on image data of a reference object with a reference orientation relatively to said image capturing means captured by said image capturing means, said reference object having a shape substantially identical to that of the object;

    transformation means for performing two-dimensional and geometrical transformation of the created model pattern to generate a transformed model pattern representing an image of the object with an orientation different from the reference orientation;

    pattern matching means for performing a pattern matching of the image data of the object captured by said image capturing means with the transformed model pattern;

    selecting means for repeatedly performing the generation of a transformed model pattern and the pattern matching of the image data of the object with the transformed model pattern to thereby select one of the transformed model patterns in conformity with the image data of the object, and obtain information on a position of the image of the object in the image data; and

    determining means for determining three-dimensional position and/or orientation of the object based on the information on the position of the image of the object in the image data and information on the orientation of the selected one of the transformed model patterns.

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