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A repairing method, device and robot for 3D point cloud data

A 3D point cloud and patcher technology, applied in the field of robotics, can solve problems such as poor quality of 3D point cloud data, and achieve the effect of solving poor quality

Active Publication Date: 2020-07-31
BEIJING INSPIRE ROBOTS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, the present invention provides a method, device and robot for repairing 3D point cloud data to solve the problem of poor quality of 3D point cloud data obtained by the acquisition equipment of the robot

Method used

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  • A repairing method, device and robot for 3D point cloud data
  • A repairing method, device and robot for 3D point cloud data
  • A repairing method, device and robot for 3D point cloud data

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] figure 1 It is a flow chart of the steps of a method for repairing 3D point cloud data provided by the embodiment of the present application.

[0047] like figure 1 As shown, the method for repairing the 3D point cloud data provided by this embodiment is applied to the robot, and is specifically used to repair the 3D point cloud data obtained by the robot through the acquisition device, and specifically includes the following steps:

[0048] S101: Collect first 3D point cloud data and second 3D point cloud data of a target object.

[0049] For a specific target object selected by the user, when the robot is at a specific position, the first 3D point cloud data and the second 3D point cloud data collected by the robot's collection device for the target object are obtained.

[0050] The difference between the first 3D point cloud data and the second 3D point cloud data is that the data quality of the two is different. In this embodiment, the data quality of the first 3D...

Embodiment 2

[0070] image 3 It is a structural block diagram of an apparatus for repairing 3D point cloud data provided by an embodiment of the present application.

[0071] like image 3 As shown, the device for repairing 3D point cloud data provided by this embodiment is applied to a robot, and is specifically used to repair the 3D point cloud data obtained by the robot through the acquisition equipment. The device specifically includes a data acquisition module 10, a model training module 20 and Patch execution module 30 .

[0072] The data collection module is used to collect the first 3D point cloud data and the second 3D point cloud data of the target object.

[0073] For a specific target object selected by the user, when the robot is at a specific position, the first 3D point cloud data and the second 3D point cloud data collected by the robot's collection device for the target object are obtained.

[0074] The difference between the first 3D point cloud data and the second 3D ...

Embodiment 3

[0094]This embodiment provides a robot, which is provided with the three-dimensional point cloud data repairing device as provided in the previous embodiment. The device is specifically used to collect the first three-dimensional point cloud data and the second three-dimensional point cloud data corresponding to each other of a specific target object, the data quality of the first three-dimensional point cloud data is lower than the data quality of the second three-dimensional point cloud data , and the data quality of the first 3D point cloud data is the same or similar to the data quality of the 3D point cloud data that can be obtained by the acquisition equipment; using the first 3D point cloud data and the second 3D point cloud data for neural network model training, will get The objective function of is used as a point cloud patcher; the original 3D point cloud data obtained by the acquisition device is input into the point cloud patcher, and the patched target 3D point cl...

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Abstract

This application provides a method, device and robot for repairing three-dimensional point cloud data. The repair method and device are applied to robots, specifically to collect corresponding first three-dimensional point cloud data and second three-dimensional point cloud of a specific target object. Data, the data quality of the first three-dimensional point cloud data is lower than the data quality of the second three-dimensional point cloud data, and the data quality of the first three-dimensional point cloud data is the same or similar to the data quality of the three-dimensional point cloud data that can be obtained by the acquisition device; The first three-dimensional point cloud data and the second three-dimensional point cloud data are used for neural network model training, and the obtained objective function is used as a point cloud patcher; the original three-dimensional point cloud data obtained by the acquisition device is input into the point cloud patcher to obtain the patched Target 3D point cloud data. In this way, the obtained point cloud patcher can be used to enable the robot to obtain higher-quality three-dimensional point cloud data, breaking through the limitations of hardware equipment and solving the problem of poor quality three-dimensional point cloud data from the acquisition equipment.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method, device and robot for repairing three-dimensional point cloud data. Background technique [0002] With the reduction of camera cost and the continuous improvement of performance, vision-based target perception has become an important direction in the field of robot sensor technology, and has become the basic technology for the robot body to perform other related actions. Especially with the popularization of 3D imaging sensors, the demand for processing depth information represented by 3D point cloud data is increasingly strong. [0003] However, at present, due to the constraints of equipment cost, energy consumption, volume and processing speed, the quality of 3D point cloud data obtained by many robot acquisition equipment is poor, especially the partial incompleteness of objects is serious. Contents of the invention [0004] In view of this, the present invention p...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T5/00G06N3/02
CPCG06N3/02G06T2207/10028G06T5/00
Inventor 蔡颖鹏陈希
Owner BEIJING INSPIRE ROBOTS TECH CO LTD
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