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A method and system for estimating object point cloud pose based on particle swarm optimization

A particle swarm optimization and point cloud technology, applied in the field of visual perception of space robots, can solve the problems of high time complexity, low accuracy of point cloud pose estimation, and inability to meet the needs of high-precision robot grasping, and achieve fast and accurate Determining and achieving results with precision and reliability

Active Publication Date: 2019-08-02
TECH & ENG CENT FOR SPACE UTILIZATION CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] 1. The point cloud pose estimation efficiency is low, and the time complexity is high;
[0005] 2. The point cloud pose estimation accuracy is low, which cannot meet the needs of high-precision robot grasping

Method used

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  • A method and system for estimating object point cloud pose based on particle swarm optimization
  • A method and system for estimating object point cloud pose based on particle swarm optimization

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Embodiment Construction

[0055] In the following description, for purposes of illustration rather than limitation, specific details such as specific system architectures, interfaces, and techniques are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0056] The embodiment of the present invention provides a method and system for estimating the pose of an object point cloud based on particle swarm optimization.

[0057] According to an aspect of the embodiments of the present invention, the embodiments of the present invention provide a method for estimating the pose of an object point cloud based on particle swarm optimization.

[0058] see ...

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Abstract

The invention relates to an object point cloud pose estimation method and system based on particle swarm optimization (SPO), and belongs to the technical field of space robot visual perception. The method comprises following steps: initializing initial poses and moving speeds of all particles in a particle group; based on the primary poses, subjecting a space point cloud to rotation transformation; after rotation transformation, based on the point cloud data and a geometric model where the point cloud stays, determining the position relationship between each point and a geometric surface, further determining the closest distance between transformed point cloud and the geometric model; according to the closest distance and an algorithmic rule, determining the fitness of each particle; according to the fitness, updating the pose information of particles, and based on the updated pose information, determining the pose information of the point cloud. The provided method can precisely and efficiently obtain the point cloud pose information.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of visual perception of space robots, and in particular to a method and system for estimating object point cloud poses based on particle swarm optimization. Background technique [0002] With the development of science and technology, the development of robots and related applications have gradually developed and gradually improved. In the existing technology, in order to obtain point cloud pose information, on the one hand, the acquisition of point cloud pose information is achieved by converting the model into a point cloud dataset; on the other hand, some companies have begun to use "alignment algorithm "In order to improve the efficiency of obtaining point cloud pose information. [0003] But, in the process that the inventor realizes the present invention, find that there are at least the following problems: [0004] 1. The point cloud pose estimation efficiency is low, and the t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/70G06N3/00
CPCG06N3/006G06T7/70G06T2207/10028
Inventor 王衍郭丽丽于歌
Owner TECH & ENG CENT FOR SPACE UTILIZATION CHINESE ACAD OF SCI
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