METHOD OF UTILIZING EDGE IMAGES OF A CIRCULAR SURFACE FOR DETECTING THE POSITION POSTURE AND SHAPE OF A THREE-DIMENSIONAL OBJECTIVE HAVING THE CIRCULAR SURFACE PART

A method for recognizing a three-dimensional objective in which a two-dimensional image is obtained from the same viewing point as a distance image obtained by picking up the objective in a three-dimensional space and the two-dimensional image is utilized to previously limit an existence zone of the objective under detection for the distance image and to perform objective detecting operation over the partial distance image in the limited zone, thereby realizing a sufficiently high speed detection of, in particular, the three-dimensional objective.