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Object recognize apparatus

  • US 5,018,219 A
  • Filed: 02/06/1989
  • Issued: 05/21/1991
  • Est. Priority Date: 02/29/1988
  • Status: Expired due to Term
First Claim
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1. An object recognition apparatus comprising:

  • image input means for imaging an object an arbitrary position so as to input an image;

    means for specifying a recognition object as a set including a plurality of lower-level recognition objects;

    means for setting, for each of said lower-level recognition objects, at least a preprocessing operation of said each lower-level recognition object, features and contour shape of said each lower-level recognition object as attribute data corresponding to a judgment operation of said each lower-level recognition object and orientation base, position base, measurement items, collision check and coordinate conversion parameters as optional data of said each lower-level recognition object;

    means for performing a processing for said each lower-level recognition object according to said preprocessing operation, said judgment operation and said measurement items of said each lower-level recognition object;

    means for obtaining geometric features from said inputted image by performing a preprocessing according to said preprocessing operation of said each lower-level recognition object;

    means for effecting a judgment and detection of said lower-level recognition objects by comparing said geometric features obtained from said inputted image to features and contour shape of said each lower-level recognition object corresponding to said judgment operation; and

    means for detecting a recognition object including said lower-level recognition objects on the basis of results of said detection effected on said each lower-level recognition level object.

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