Hitachi, Ltd.

Yoshie Nishida

Seiji Hata

Akira Miyakawa

Masao Tsuji

There are disclosed a method and an apparatus for properly recognizing the position and orientation of a whole object article from its partial shape. The method comprises the steps of first extracting an image of a partial shape from a two-dimensional picture image representing at least one portion of the object article whose position and orientation are to be recognized, then calculating at least one of a center of gravity, an intersection of straight lines and a linear equation with respect to each of the extracted feature shapes, thereby obtaining at least one feature parameter, and calculating the position and orientation of the whole object article by arbitrarily combining such feature parameters.

Method and apparatus for calculating position and orientation by

A pattern recognition apparatus for recognizing a pattern derived from image data of an outline of an object region is disclosed. The apparatus comprises means for identifying the object region from the input image data, means for extracting outline pixels of the object region, means for polygon-approximating the object region based on a position relationship among the outline pixels to determine vertex coordinates of the approximation polygon, means for determining characteristic data representing a position and an attitude of the region based on the vertex coordinates, and means for superimposing the polygon-approximated object region pattern on a dictionary pattern based on the characteristic data and, determining a common region of the patterns to determine the identity of the patterns. High speed and highly reliable pattern matching is attained.

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Yokohama, Japan

Yoshie Nishida