RECOGNITION APPARATUS FOR POSITION AND DIRECTION

PROBLEM TO BE SOLVED: To provide a recognition apparatus by which the image such as the isosceles trapezoidal shape or the like of a machine component is positioned simply at ±180 deg. by a method wherein the outer circumference is traced with reference to the image obtained by photographing an object and a peak position is found by a mean-value movement peak search by a positive weighting operation or a positive and negative weighting operation. SOLUTION: The image of an object 1 which is photographed by a camera 6 is stored in a video memory 7. In a trace processing part 8, the outer circumference of the image stored in the video memory is traced according to a tracing position. In a sixteen-direction coding part 10, the outer circumference is coded into a direction vector code so as to correspond to a sixteen-direction vector. In a direction histogram generation part 9, a histogram is created. Then, with reference to the histogram, a histogram which is multiplied by the direction weighted value of the number of frequencies of sixteen direction vector codes is created. Then, in a peak search processing part 11 at the computing part, a peak search which indicates a largest frequency value is performed, a histogram which is corrected by a movement weighted value is obtained, and a direction computing part 13 computes the direction of the object 1 on the basis of the histogram.