A position/orientation detecting device for detecting a three-dimensional
position/orientation of an object such as a workpiece in a stereo mode of
highly reliable determination of corresponding images, which is suitable
for use to be combined with a robot to constitute an object picking
apparatus. Pictures of workpieces are taken by video cameras.
Two-dimensional taught models are created by model creating means and
stored as model information, and the positions of three or more reference
points are determined by reference point position setting means. Object
detecting sections detect images of workpieces using the model
information. A crresponding image determining section determines
corresponding images, using models or images which are prepared by
performing geometrical transformation (represented by a set of
parameters) on the two-dimensional taught models or the two-dimensional
images. A position/orientation calculating section obtains a
three-dimensional position of each of the reference points on each of the
workpieces, and thereby obtains the position/orientation of each of the
workpieces.
