Abstract: A posture estimation system for estimating a posture of an object is provided, which includes: a plurality of three-dimensional cameras taking images of the object from different angles; an estimation section estimating, by using two-dimensional images respectively acquired by the plurality of three-dimensional cameras, a position of a predetermined section of the object on the two-dimensional images; a determination section determining reliability of depth information on the position estimated by the estimation section based on a change over time of the depth information; and a calculation section calculating the position of the predetermined section of the object in consideration of a determination result of the determination section.

Abstract: A picking system is provided, which is capable of picking up an object even when the object is not registered in advance. The picking system includes: a picking device holding the object; an RGB-D camera acquiring three-dimensional point cloud data of the object to be picked up by the picking device; and a control device controlling the picking device based on a detection result by the RGB-D camera. The control device generates a geometric model of the object by combining simple geometric primitives while referring to the three-dimensional point cloud data, and calculates a holding position of the object for the picking device based on the geometric model.