STRONG RECOGNITION DEVICE USING NOTICED POINT

PROBLEM TO BE SOLVED: To reduce the quantity of memory consumption necessary for the expression of a parameter space by outputting the estimate of a parameter for describing an environment in accordance with a result voted to a voting space in a restriction parameter space. SOLUTION: A restriction parameter space storing means 1 stores a restriction parameter space as a parameter space based upon an object model. A voting execution means 2 votes a set of partial parameters in the restriction parameter space stored in the means 1. A parameter estimating means 3 outputs the estimate of a parameter for describing an environment in accordance with a result voted to a voting space in the restriction parameter space after the end of voting to all feature points in the restriction parameter space by the means 2. Even when the information of observing feature points of an object to be recognized is lacking due to noise, hiding or the like or excess false information is mixed, a description parameter can be correctly estimated.