JP5229912B2 - Object recognition apparatus and object recognition method - Google Patents

Description

  The present invention relates to an object recognition apparatus and an object recognition method that can be verified on a recognition result of a recognition process that is mounted on a mobile robot and recognizes an object in a daily life space. In particular, the present invention relates to an object recognition apparatus and an object recognition method capable of recognizing an object as an object while preventing erroneous detection of a recognition result and improving the recognition accuracy.

  Conventionally, recognition devices and recognition methods for mechanically recognizing objects have been developed by various methods. For example, as a method of recognizing an object, a method of comparing a large number of images prepared in advance with an image of an object to be recognized and matching shape characteristics (Non-Patent Document 1), or by measuring an object in advance 3D object position and orientation determination method for determining the position and orientation of the free-form surface body by collating a free-form surface model composed of all-round range data and an input image of the free-form surface body that is a 3D object (Patent Document 1) Etc. are being developed.

  As advanced recognition processing, there is a proposal of a recognition method (Non-Patent Document 2) based on gaze control based on knowledge description using a Bayesian network.

  However, in the above technique, a recognition method using a sensor that handles the same kind of natural quantity is often used only by visual features (captured images). For example, the shape of an object may be erroneously recognized due to noise of the visual sensor. This is not the case. Furthermore, in the recognition method based only on visual features, even if an object is specified, the object is recognized based on shape information, so the physical properties of the object cannot be specified, and the shape is similar but the physical properties are similar. Due to the difference, there is a problem that erroneous recognition of an object occurs when handling.

  In addition, since recognition processing is performed based on data from sensors that handle the same kind of natural quantity, for example, when good image data cannot be collected from a visual sensor, the recognition accuracy is significantly reduced or recognized. It becomes impossible. In order to cope with this, there is also a proposal for an object recognition method (Patent Document 2) that can perform highly accurate object recognition by integrating different types of information.

  In general, when an object is mechanically recognized by a recognition device, not all the recognition results obtained by the object recognition processing are correct, but it is necessary to verify the recognition result, check the error, and correct the result. Up to now, such correction work for obtaining a correct result has not been performed mechanically automatically, but has been performed manually. Performing this check and correction work manually places a heavy burden on the user.

  On the other hand, Patent Documents 3 and 4 propose a recognition device that improves a part of the recognition device so that it can be determined whether or not the recognition result by such a recognition device is correct.

  Patent Document 3 is a proposal of an image recognition result determination apparatus that determines whether or not a recognition result obtained by image recognition processing for a medical image is correct. In the invention of the image recognition result determination apparatus, after the image recognition unit recognizes a predetermined structure in the image representing the subject, the recognition result determination unit performs measurement on the image of the predetermined structure recognized. The anatomical measurement value of the structure is acquired, and it is automatically judged whether the acquired anatomical measurement value is within a predetermined standard range. Judged as an error.

  Patent Document 4 is a proposal of a recognition device that can recognize a pedestrian on a road of an object while preventing erroneous detection with a stationary object. In this recognition apparatus, an object with a high degree of coincidence is compared with a captured image of an object and an image of a stationary object in a map database, and an erroneous detection with a stationary object is prevented.

BabackMoghaddam, Alex Pentland, "Probabilistic Visual Learning for ObjectRepresentation," IEEE Transactions on Pattern Analysis and MachineIntelligence, vol.19, No.7, p.696-710, 1997. R.D.Rimey, C.M.Brown, "Control of Selective Perception Using Bayes Nets and Decision Theory," International Journal of Computer Vision, 12 (2/3): 173-207, 1994.

JP-A-10-206135 Japanese Patent Application Laid-Open No. 07-078250 JP 2009-95644 A JP 2007-310572 A

  By the way, as shown in Patent Document 3 and Patent Document 4 described above, a recognition device has been proposed in which a part of the recognition device is improved so that it can be determined whether or not the recognition result by the recognition device is correct. However, the determination means for these recognition results is a technique for reducing misrecognition by a sensor that handles the same type of natural quantity as the recognizing means. For example, it is difficult to remove misrecognition due to sensor noise.

  The present invention has been made in order to solve the problems in consideration of the disadvantages of the conventional recognition method, and recognizes an object while preventing erroneous recognition of the shape of the object due to sensor noise, thereby improving accuracy. An object of the present invention is to provide an object recognition apparatus and an object recognition method that can be improved.

  Specifically, the object of the present invention is not only the characteristics of natural quantities used in object recognition processing, but also physical constraints (for example, geometric and dynamic conditions, environment) of the recognition target object. It is an object of the present invention to provide an object recognition apparatus capable of verifying determination of an object recognition result in consideration of interference, inertial force, and the like. Another object of the present invention is to provide an object recognition apparatus and an object recognition method capable of recognizing an object of an object in a daily life space while preventing erroneous detection of an object recognition result and improving the recognition accuracy.

  In order to achieve the above object, an object recognition apparatus according to the present invention includes an imaging unit that images an environment including an object to be identified and outputs image information, and physical characteristics of the object to be identified. Object information and environment information in which the object to be identified exists are created and stored in advance, and the object information and environment information of the identified object are updated and stored, and object information and environment information with respect to the database The environment / object data input / output means for inputting / outputting the above-mentioned data, the object information stored in the database and the data of the environment information are referred to via the environment / object data input / output means, and the imaging means Object recognition means for recognizing the object and environment to be identified from the output image information and identifying the position and orientation of the object in the environment, and the identified object Physical simulation means for taking out physical characteristics of object information stored in a database from the object information and environment information via the environment / object data input / output means, and performing physical simulation on movement of the object in the environment, and the physical simulation The simulation comparison means for checking the interference based on the distance between the object and the object in the environment according to the result, and outputting the predicted position of the movement of the object based on the physical constraint by the physical simulation, and A judgment output means for judging whether the predicted position of the movement of the object outputted by the simulation comparing means is inconsistent with the physical constraint by checking the interference with the identified object, and outputting it. It is a feature.

  In this case, the simulation comparing means uses the physical simulation to determine the position / orientation of the object identified by the result of recognizing the object in each image of the image information continuously photographed by the photographing means. May be configured to be compared with the predicted object position.

  In addition, the object recognition method according to the present invention includes an imaging unit that captures an environment including an object to be identified and outputs image information, object information including physical characteristics of the object to be identified, and the object to be identified. A database that creates and stores environmental information in advance and updates and stores the object information and environmental information of the identified object, and inputs and outputs environment information and object data to and from the database. An output means and a data processing means comprising a method for recognizing an object to be identified, the step of photographing an environment including the object to be identified by the photographing means and outputting image information, and a data processing means, The object / environment information data stored in the database is referred to by the environment / object data input / output means and output by the imaging means. A step of recognizing the object and environment to be identified from the identified image information and identifying the position and orientation of the object in the environment, and a data processing means are stored in the database from the object information and environment information of the identified object. The physical characteristics of the obtained object information are retrieved by the environment / object data input / output means, and a physical simulation is performed on the movement of the object in the environment, and the data processing means A step of checking the interference based on the distance, outputting a predicted position of the movement of the object based on the physical constraint by the physical simulation, and a data processing means for outputting the predicted position of the movement of the object Check if there is a physical constraint inconsistency by checking for interference with identified objects And outputting Te is characterized in that it comprises a.

  Further, in this object recognition method, the data processing means further determines the position / posture of the object identified by the result of recognizing the object in each image of the image information continuously photographed by the photographing means, And a step of comparing the position of the object predicted using physical simulation with the position of the object.

  According to the object recognition apparatus and the object recognition method of the present invention having such features, the object recognition processing is performed by performing not only the feature of the natural quantity acquired by the sensor but also physical simulation based on the recognition result. In case of handling an object recognized by a mobile robot, the object recognition result can be judged taking into account physical constraints (geometric and dynamic conditions, interference and inertial force conditions) Can recognize the object while reliably performing object recognition processing by reflecting the physical constraints due to the physical characteristics of the object to be identified, and recognizing the object while preventing erroneous recognition of the object shape due to sensor noise. And the accuracy can be improved.

It is a block diagram explaining the structure of the object recognition apparatus concerning this invention. It is a block diagram explaining the schematic structure of the object recognition apparatus of this invention applied to the movement manipulator system of a target object handling apparatus. It is a block diagram explaining the outline structure of the object recognition apparatus of this invention applied to the picking system of the target object handling apparatus. It is a flowchart which shows the flow of the verification process of the object recognition result of the object recognition apparatus concerning this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram illustrating the configuration of an object recognition apparatus according to the present invention. The object recognition apparatus according to this embodiment is mounted on a mobile robot, for example, for identifying an object in the environment of a daily life space where the mobile robot exists, and for the mobile robot to handle the object. Used for processing.

  In FIG. 1, 1 is an object recognition device, 2 is an imaging device for a visual sensor, 3 is a data processing device, 4 is an object identification unit, 5 is an environment / object data input / output unit, and 6 is for identifying an object. A database in which object information and environment information are created and stored in advance, 7 is a physical simulator, 8 is a recognition result / physical simulation comparison unit, and 9 is a determination output unit.

  As shown in FIG. 1, the object recognition device 1 receives an image recognition device 2 provided as a visual sensor of a mobile robot and image information of an environment photographed and output by the image pickup device 2 to perform object recognition processing. And a data processing device 3 for performing the above. The imaging device 2 is attached to the robot, images the environment around the robot, and outputs image information. The imaging device 2 uses a stereo camera to capture an environment and output image information of a stereo image.

  As will be described later, the data processing device 3 identifies an object in the environment from the image information of the stereo image acquired and output by the imaging device 2, and refers to the object information and the environment information stored in the database 6. Then, the object in the captured image is identified, and the position / orientation of the object in the environment is determined.

  As shown in FIG. 1, the data processing device 3 includes, as a processing module and a data storage element for performing object recognition data processing here, an object identification unit 4, an environment / object data input / output unit 5, and an object. A database 6 in which object information and environment information for identification are created and stored in advance, a physical simulator 7 that performs physical simulation of object motion, a recognition result / physical simulation comparison unit 8, and a determination output unit 9 are provided.

  The database 6 pre-creates and stores object information including physical characteristics of the object to be identified and environment information in which the object to be identified exists, and updates and stores the object information and environment information of the identified object. The The environment / object data input / output unit 5 performs processing for inputting / outputting object information and environment information data to / from the database 6, and provides object information as reference information for object recognition to the object identification unit 4. In addition, the object information of the object identified by the object identification unit 4 and the information related to the environment information are registered in the database 6 for the next data processing, and updated and stored. .

  The environment / object data input / output unit 5 performs processing for inputting / outputting object information and environment information data stored in the database 6, and provides the physical simulator 7 with reference information for physical simulation processing. Therefore, the physical simulator 7 includes a program for performing a physical simulation of the object motion, and performs a physical simulation related to the movement of the identified object.

  The result of the physical simulation processing of the identified object by the physical simulator 7 is supplied to the recognition result / physical simulation comparison unit 8. The recognition result / physical simulation comparison unit 8 checks the interference based on the distance between the object and the object in the environment based on the result of the physical simulation referring to the data registered in the database 6, and the object is physically detected by the physical simulation. The predicted position of the movement of the object based on the static constraint is output. For this processing, the recognition result / physical simulation comparison unit 8 refers to the object information and environment information data stored in the database 6 via the environment / object data input / output unit 5.

  The output from the recognition result / physical simulation comparison unit 8 is supplied to the determination output unit 9, and the determination output unit 9 performs physical inspection by checking the interference with the object identified by the recognition result / physical comparison unit 8. Finally, it is determined whether or not there is a contradiction between various constraints and output.

  As described above, when the imaging device 2 captures an environment including an object to be identified and outputs image information, the object identifying unit 4 recognizes the object to be identified. By referring to the information and environment information data via the environment / object data input / output unit 5, the object / environment to be identified is recognized from the image information output by the imaging device 2, and the position / Identify posture. The physical simulator 7 extracts the physical characteristics of the object information stored in the database from the object information and the environment information of the identified object via the environment / object data input / output unit 5 and performs a physical simulation for the movement of the object in the environment. Therefore, the recognition result / physical simulation comparison unit 8 checks the interference based on the distance between the object and the object in the environment according to the result of the physical simulation, and the object is based on the physical constraint by the physical simulation. Output the predicted position of the movement. Then, the determination output unit 9 determines whether or not there is a physical constraint contradiction by checking the interference with the object identified by the recognition result / physical comparison unit 8 and outputs the result.

  In addition, the recognition result / physical simulation comparison unit 8 uses the physical simulation to determine the position / posture of the object identified based on the result of recognizing the object in each image of the image information continuously captured by the image capturing device 2. Therefore, the determination output unit 9 determines whether or not the recognition result of the object identification unit 4 correctly identifies the object and outputs the result.

  Since the database 6 pre-creates and stores object information and environment information including physical properties of objects for object identification, the environment / object data input / output unit 5 here is stored in the database 6. It functions as a means for storing, extracting, and updating object information and environmental information, a means for storing, extracting, and updating the relative relationship of objects in the environment, and a means for inputting to a physical simulator. Further, in order for the physical simulator 7 to check interference based on the distance between the object and the surrounding objects, the physical simulation is performed by adding the object online.

  The recognition result / physical simulation comparison unit 8 also recognizes a predetermined object in the images continuously photographed by the photographing device 2, and compares the result with the position of the object predicted using the physical simulation. In addition, a recognition result is determined to determine whether a contradiction in physical constraint occurs due to an interference check with surrounding objects.

  The object identification unit 4 is configured to detect other objects in the environment based on the object information and the environment information of the object acquired from the environment / object data input / output unit 5 based on images continuously input from the imaging device 2. Based on the relative relationship, a process for identifying the object from an area that is likely to exist is also performed. As the object identification unit 4, a conventionally known object identification device is used. For example, it is realized by a device configuration that performs data processing by a three-dimensional object position and orientation determination method as disclosed in Patent Document 1.

  In the object identification unit 4, for example, the identification process is performed by using a method combined with recognition using color, an identification method acquired by learning using a SIFT method, an identification method using SVM, or a Voila & Jones method. Processing may be performed.

  When the position of the object continuously measured by the object identification unit 3 is acquired, the environment / object data input / output unit 5 registers it in the database 6 as the object recognition position.

  The physical simulator 7 extracts information on the position and physical characteristics of the target object recognized from the database 6 and other objects in the environment through the environment / object data input / output unit 5, and immediately performs a physical simulation online.

  In addition, the recognition result / physical simulation comparison unit 8 uses the physical simulation to predict the recognition position of the continuously recognized target object and other objects in the environment acquired from the database 6 through the object data input / output unit 5. Interference check is performed using the position of the object as an input, and the distance between the object and the distance between the objects predicted using physical simulation are compared using the recognized target object and the positions of surrounding objects, and a certain threshold is set. If it exceeds, it is determined that there is an error in the recognition result, and the position of the object predicted using the physical simulation is registered as the predicted position of the target object in the database 6 through the environment / object data input / output unit 5 It may be used for identification of the object. If the difference is within a certain threshold, it is determined that the recognition result is correct, and the result is output to the determination output unit 9.

  Next, as an application example of the object recognition apparatus of the present invention, an embodiment applied to a moving manipulator system and a picking system of an object handling apparatus will be described.

  2 and 3 are diagrams showing the overall configuration of the object handling apparatus 10 according to a preferred embodiment of the object recognition apparatus of the present invention. In the present embodiment, the geometric information placed in the environment as the object information of the object to be identified and the model of physical properties (center of gravity position, inertia) are known, but the location of the existence is unknown An example will be described in which a robot recognizes and handles a physical object. FIG. 2 shows the configuration of the mobile manipulator system, and FIG. 3 shows the configuration of the picking system. The configuration of the object recognition device is the same.

  The object handling apparatus 10 includes a robot 16 configured to handle the object 14 in the object container 12, a robot controller 18 that controls the robot 16, the object container 12, and the object 14 at the hand portion of the robot 16. And a data processing device 22 that processes image information captured by the visual sensor 20.

  Imaging (measurement) of the object 14 and its environment is performed by the visual sensor 20 provided at the hand portion of the robot 16. The visual sensor 20 uses a stereo camera and is controlled by a visual sensor control unit 28 connected by a communication line 26. Further, by connecting the visual sensor control unit 28 to the data processing device 22 via the communication line 27, a predetermined position / posture is controlled, and a detailed three-dimensional position and posture of the object 14 can be obtained. it can.

  The robot controller 18 is connected to the data processing device 22 via the communication line 30, and image information captured by the visual sensor 20 is input to the data processing device 22 and the result processed by the data processing device 22 is used. The robot 16 is controlled so as to handle the object 14 (a series of operations such as approach, gripping and taking out). As the robot controller 18, a known controller having a CPU, a data memory, a frame memory, a data processor, an interface, and the like is used. Detailed description thereof is omitted.

  Next, the configuration of the data processing device 22 will be described. Similarly to the robot controller 18, the data processing device 22 includes a CPU, a data memory, a frame memory, a data processing processor, an interface, and the like.

  As shown in FIGS. 2 and 3, the data processing device 22 is configured to recognize the object recognition model, the recognition parameter, the object physical model, the position and orientation of the recognized object candidate, and the simulated object. A database 22a for storing a position / posture and a position / posture of an object that has been determined to be recognized; a recognition parameter setting unit 22b for setting a feature model and a recognition parabator of the target used for target identification; and a visual sensor Image data is received at a constant time interval Tc from 20 and stored, and a feature model for pattern matching with image data is generated and stored from the data at the constant time interval. Unit 22k and object recognition unit 22c for detecting an object from the feature model generated by feature model generation / storage unit 22k The recognition candidate storage unit 22d for storing the recognition result of the object recognition unit 22c in the database 22a, and the recognition position / posture of the object detected by the object recognition unit 22c used for the physical simulation of the object and the physics of the object The physical parameter setting unit 22e for setting the model, the position and orientation of the object recognized by the object recognition unit 22c acquired by the physical parameter setting unit 22e, and the physical model of the object stored in the database (detailed three-dimensional shape) The physical simulation unit 22f that performs physical simulation of the object using the model, mass, inertia matrix, center of gravity position, friction coefficient, and elastic coefficient), and the position and orientation data of the object in the environment simulated by the physical simulation unit 22f Simulation result storage unit 2 stored in the database 22a g, time-series data of the position / orientation of the object recognized at the constant time interval Tc stored in the database by the recognition candidate storage unit 22d, and physical simulation at the constant time interval Tc stored in the database by the simulation result storage unit 22g The comparison result of the recognition result / physical simulation comparison unit 22h and the recognition result / physical simulation comparison unit 22h for acquiring and comparing time-series data of the simulation results of the position / orientation of the object by the object is determined and the determination result is recognized as For parameter adjustment, when the recognition result determination unit 22i that feeds back to the recognition parameter setting unit 22b determines that the recognition result is correct by the recognition result determination unit 22i, the position and orientation of the candidate recognition result of the object are determined. Data with time and position of the object in the database And an object storage unit 22j for storing as a data. The object recognition unit 22c is associated with a captured image data and a feature model generation / storage unit 22k for performing pattern matching. The feature model generation / storage unit 22k includes features such as edges and colors included in the imaging data of the environment and the object expressed in an appropriate coordinate system (for example, the coordinate system Σr arranged at the center of the bottom of the robot 16). Generate a feature model of the information.

FIG. 4 is a flowchart showing the flow of recognition result determination processing. The flow of the process of determination of the recognition result in the operation | work by the target object handling apparatus shown in FIG. 2 is shown.
First, in step S101, imaging by the visual sensor 20 is performed at a constant time interval Tc, and the captured images are stored as Img_T0 and Img_Tc in the above-described feature model generation / storage unit 22k.

  In step S102, an object recognition model and a recognition parameter are set by the recognition parameter setting unit 22b of the data processing device 22, and the captured image data is stored for the images Img_T0 and Img_Tc stored in the feature model generation / storage unit 22k. And feature models for pattern matching are generated and stored in the feature model generation / storage unit 22k as LCM_T0 and LCM_Tc.

  In the next step S103, the object recognition unit 22c described above performs object recognition for detecting the object by matching the object model set in S102 from the feature models LCM_T0 and LCM_Tc. If an object has been detected, the process proceeds to step S104, where the position / orientation of the object recognized by the recognition candidate storage unit is stored in the database as a recognition candidate, and the process proceeds to step S105. If no object is detected in the object recognition process in S103, the process returns to S102, the recognition parameters are adjusted, and the object is re-recognized. Note that steps S102 to S104 are performed using images Img_T0 and Img_Tc captured at a constant time interval Tc as input images. In step S104, the positions and orientations of recognized objects are detected using the respective images Img_T0 and Img_Tc. Candidates are stored in the database as Obj_recog_T0 and Obj_recog_Tc.

  In step S105, the physical parameter setting unit described above recognizes the physical model of the object (detailed three-dimensional shape model, mass, inertia matrix, gravity center position, friction coefficient, elastic coefficient) and the initial state of the interval Tc from the database. The position / posture candidate Obj_recog_T0 is acquired, set as the initial position / posture Obj_sim_T0 of the object in the three-dimensional space of the simulation, and the process proceeds to step S106.

  In step S106, an interference check is performed between the object Obj and the surrounding environment Env when the object is arranged as the position / posture Obj_sim_T0 in the simulation three-dimensional space. As a result of the interference check, when interference with the surroundings occurs, it is determined that interference does not occur if Collision_penetration_T0 is within the specific interference threshold Tolerance_collation_Obj of the target object stored in the database, and S107 Proceed to When it is determined that there is interference, it is determined that there is a high probability that the recognition result is erroneous, and the process returns to S102.

  In step S107, based on the physical parameters set in S105, the physical simulation is performed for a certain time interval Tc from the state where the initial position and orientation of the object is arranged as the position and orientation Obj_sim_T0 in the simulation three-dimensional space. I do.

  In step S108, the predicted position / orientation of the object according to the physical constraint, which is the result of the physical simulation during Tc, is stored in the database as Obj_sim_Tc.

  In step S109, the recognition result is compared with the simulation result. The distance Distance_Obj_Tc between the recognized position / posture candidate Obj_recog_Tc and the predicted position / posture Obj_sim_Tc of the object by simulation after a certain time interval Tc is calculated, and the distance Distance_Obj_Tc is the specific distance of the object stored in the database If it is within the threshold Tolerance_distance_Obj, it is determined that the recognition result and the physical simulation match, and in S110, the recognition position / posture candidate of the object is captured and stored in the database as timed data of the position / posture of the object. finish. When the distance Distance_Obj_Tc between the recognized candidate Obj_recog_Tc and the simulation prediction Obj_sim_Tc exceeds the threshold Tolerance_distance_Obj, it is assumed that the recognition has failed, and the process returns to S101, adjusts the recognition parameter, and restarts the recognition process.

DESCRIPTION OF SYMBOLS 1 ... Object recognition apparatus 2 ... Imaging device 3 ... Data processing apparatus 4 ... Object identification part 5 ... Environment / object data input / output part 6 ... Database 7 ... Physical simulator 8 ... Recognition result and physical simulation comparison part 9 ... Determination output part DESCRIPTION OF SYMBOLS 10 ... Object handling apparatus 12 ... Object container 14 ... Object 16 ... Robot 18 ... Robot controller 20 ... Visual sensor 22 ... Data processing device 26 ... Communication line 28 ... Visual sensor control part 27 ... Communication line 30 ... Communication line 22a ... Database 22b ... Recognition parameter setting unit 22c ... Object recognition unit 22d ... Recognition candidate storage unit 22e ... Physical parameter setting unit 22f ... Physical simulation unit 22g ... Simulation result storage unit 22h ... Recognition and physical simulation comparison unit 22i ... Recognition result determination Part 22j ... object storage part 2k ... feature model generation and storage unit

Claims (4)

Photographing means for photographing an environment including an object to be identified and outputting image information;
A database for storing object information including physical characteristics of an object to be identified and environment information in which the object to be identified exists in advance and storing the object information and environment information of the identified object;
Environment / object data input / output means for inputting / outputting object information and environment information data to / from the database;
The object information and environment information data stored in the database are referred to via the environment / object data input / output means, and the object and environment to be identified are recognized from the image information output by the imaging means. Object recognition means for identifying the position and orientation of the object in the environment,
Physical simulation means for taking out physical characteristics of object information stored in a database from the object information and environment information of the identified object via the environment / object data input / output means and performing physical simulation for movement of the object in the environment When,
Simulation that checks the interference based on the distance between the object and surrounding objects in the environment based on the result of the physical simulation, and outputs the predicted position of the object movement based on the physical constraint by the physical simulation A comparison means;
Based on the check of interference between the object whose predicted position of the movement of the object output by the simulation comparing means is identified and the surrounding objects in the environment, it is determined whether or not there is a contradiction in physical constraints and output. Determination output means to perform,
An object recognition apparatus characterized by comprising: The object recognition apparatus according to claim 1,
The simulation comparison means includes
Compares the position and orientation of the object identified by the result of recognizing the object in each image of the image information continuously photographed by the photographing means with the position of the object predicted to move using physical simulation ,
An object recognition apparatus characterized by that. An imaging unit that images an environment including an object to be identified and outputs image information, object information including physical characteristics of the object to be identified, and environment information in which the object to be identified exists are created and stored in advance. A database for updating and storing object information and environmental information of the identified object; an environment / object data input / output unit for inputting / outputting object information and environmental information data to / from the database; and a data processing unit, A method for recognizing an object to be identified,
Photographing an environment including an object to be identified by the photographing means and outputting image information;
The data processing means refers to the object information and environment information data stored in the database by the environment / object data input / output means, and identifies the object and environment to be identified from the image information output by the imaging means. Recognizing and identifying the position and orientation of the object in the environment;
A step in which the data processing means takes out physical characteristics of the object information stored in the database from the object information and environment information of the identified object by the environment / object data input / output means and performs a physical simulation on the movement of the object in the environment; When,
The data processing means checks the interference based on the distance between the object and surrounding objects in the environment based on the result of the physical simulation, and predicts the movement of the object based on the physical constraint by the physical simulation. Outputting a position;
The data processing means determines whether or not there is a physical constraint conflict based on a check of interference between the object whose predicted position of movement of the output object is identified and surrounding objects in the environment, and outputs the result. And steps to
An object recognition method comprising: The object recognition method according to claim 3, wherein the data processing means further comprises:
Compare the position and orientation of the object identified by the result of recognizing the object in each image of the image information continuously captured by the imaging means with the position of the object predicted to move using physical simulation Step to do,
An object recognition method comprising:

Images