DEVICE, METHOD, AND PROGRAM FOR DETECTING POSITION AND ORIENTATION OF TARGET OBJECT

A device for detecting a position and an orientation of a target object includes a detector, a selector, and a position and orientation determination module. The detector detects a feature region from a two-dimensional image obtained by imaging a target object, the feature region being included in a surface element constituting a surface of the target object. The selector selects data of three or more points from three-dimensional point cloud data obtained by three-dimensionally measuring the target object, the data of the three or more points being associated with the feature region. The position and orientation determination module determines position and orientation information by using the data of the three or more points and prior information regarding a shape of the surface element, the position and orientation information being related to a position and an orientation of the surface element.