US Patent 10410172 Object detection apparatus, depalletization automating apparatus, and object detection method

According to an embodiment, an object detection apparatus includes an imaging unit, an extraction unit, an estimation unit, and a detection unit. The imaging unit acquires an image of a plurality of polyhedrons which are loaded, each of the polyhedrons having a marker on a surface, each of marker including a first straight line portion and a second straight line portion. The extraction unit that extracts a plurality of markers included in the image. The estimation unit estimates a region included in the surface by using the first straight line portion and the second straight line portion of the extracted markers. The detection unit detects a region having all corners provided with the markers as a surface of a desired polyhedron.