THREE-DIMENSIONAL OBJECT RECOGNITION METHOD AND PIN PICKING SYSTEM USING THE METHOD

WIPO Patent Application WO/2000/057129

A1

A 3-dimensional object recognition method which can be applied to a pin picking system, comprising a step (A) of obtaining 1st and 2nd images of an object, a step (B) of detecting 2-dimensional features of the object from the 1st and 2nd images, a step (C) of evaluating the reliability of the step (B) in comparison with the model data of the object, a step (D) of matching the 2-dimensional features of the 1st image against the 2-dimensional features of the 2nd image, a step (E) of evaluating the reliability in the step (D) by comparing the 2-dimensional features of the 1st image with the 2-dimensional features of the 2nd image, a step (F) of recognizing the 3-dimensional position and posture of the object in accordance with 3-dimensional information of the 2-dimensional features which are obtained by the matching, and a step (G) of evaluating the reliability of the recognized 3-dimensional position and posture.

WO/2023/217636	PRODUCTION LINE FOR PROCESSING FLAT FORMAT PARTS TO SHAPE FINAL PARTS
JPS61100806	MAINTENANCE ROBOT
JPS57173486	CONTROLLING SYSTEM FOR ROBOT

GU HAISONG (JP)
NAKAHARA TOMOHARU (JP)
ARAKI HIDEKAZU (JP)
FUJII HIROYUKI (JP)

PCT/JP2000/001685

September 28, 2000

March 17, 2000

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MATSUSHITA ELECTRIC WORKS LTD (JP)
GU HAISONG (JP)
NAKAHARA TOMOHARU (JP)
ARAKI HIDEKAZU (JP)
FUJII HIROYUKI (JP)

B25J9/16; G06T7/00; (IPC1-7): G01B11/245; B25J13/08; B65G61/00; G06T7/00

JPH1031742A	1998-02-03
JPH08145628A	1996-06-07
JPH09147121A	1997-06-06
JPH05134731A	1993-06-01
JPH09277184A	1997-10-28
JPH0635517A	1994-02-10
JPH07299782A	1995-11-14

Nishikawa, Yoshikiyo (Umeda Kita-ku Osaka-shi, Osaka, JP)

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