FIELD: electronics.
SUBSTANCE: invention relates to objects arrangement and location detection method, particularly objects, which are not controlled by location. Disclosed objects arrangement and location detection method, particularly objects, which are not controlled by location, is characterized by fact, that three-dimensional sensor sends data on target object, which are compared with data on target object, stored in models database, and used for arrangement and location initial evaluation and further more accurate target object arrangement and location evaluation. At that, different types of viewing from different object observation directions in form of said reference image are stored in models database with certain angular resolution, and current view, produced from received three-dimensional sensor data, are compared with all types of models database. At that, three-dimensional sensor sends data, relating to sensor coordinates system, in form of three-dimensional point cloud, which is converted into depth image, in which each pixel receives grey saturation value, which corresponds to depth within cuboid surrounding target object. Sensor is LIDAR three-dimensional sensor.
EFFECT: technical result is improvement of arrangement and location initial evaluation reliability and determination speed.
3 cl, 8 dwg
