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Object pose estimation method, device and electronic equipment

A pose estimation, object technology, applied in computing, computer parts, image data processing, etc., can solve the problem of accuracy and confidence not being improved.

Active Publication Date: 2018-08-24
RICOH KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] In summary, the accuracy, especially the confidence, of the pose estimation results obtained by the existing multi-view pose estimation has not been effectively improved.

Method used

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  • Object pose estimation method, device and electronic equipment
  • Object pose estimation method, device and electronic equipment
  • Object pose estimation method, device and electronic equipment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0104] This embodiment provides a method for estimating the pose of an object. Multiple cameras are used to perform pose estimation on the same object with an estimated pose. The multiple cameras can capture views of the object with an estimated pose from different perspectives. The estimated pose object areas captured by the cameras associated with each other in two cameras have overlapping parts, such as figure 1 As shown, the method includes:

[0105] Step 101: Determine the camera attitude difference between two cameras in the system composed of the plurality of cameras and the estimated attitude object, and the camera attitude difference is the difference between the attitude results obtained for the same estimated attitude object from different camera visual angles. The fixed difference is equivalent to the rotation angle from one camera to another camera along three orthogonal directions in the world coordinate system, and the estimated pose object regions captured by t...

Embodiment 2

[0142] This embodiment provides a device for estimating the pose of an object. Multiple cameras are used to perform pose estimation on the same object with an estimated pose. The estimated pose object areas captured by the cameras associated with each other in two cameras have overlapping parts, such as Figure 4 As shown, the device includes:

[0143] The camera attitude difference determination module 41 is used to determine the camera attitude difference between two cameras in the system composed of the plurality of cameras and the estimated attitude object, and the camera attitude difference is obtained from different camera visual angles for the same estimated attitude object The fixed difference between the resulting attitude results is equivalent to the rotation angle from one camera to another camera along three orthogonal directions in the world coordinate system, and the estimated attitude object areas captured by the two cameras respectively have overlapping parts;...

Embodiment 3

[0180] This embodiment also provides an electronic device for estimating the pose of an object. Multiple cameras are used to perform pose estimation on the same object with an estimated pose. The multiple cameras can capture views of the object with an estimated pose from different angles of view, and the Among the plurality of cameras, the estimated pose object areas captured by the pairwise associated cameras have overlapping parts, such as Figure 7 As shown, the electronic device 60 includes:

[0181] processor 62; and

[0182] a memory 64 in which computer program instructions are stored,

[0183] Wherein, when the computer program instructions are executed by the processor, the processor 62 is made to perform the following steps:

[0184] Determining the camera attitude difference between two cameras in the system composed of the plurality of cameras and the estimated attitude object, the camera attitude difference is the fixed difference between the attitude results o...

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Abstract

The invention provides an object pose estimation method, device and electronic equipment, and belongs to the field of image and video processing. The object pose estimation method is to utilize multiple cameras to perform pose estimation on the same estimated pose object, the method includes determining the camera pose difference between the two cameras in a system which consists of the multiple cameras and the estimated pose object; utilizing views taken by the multiple cameras to perform the pose estimation to obtain multiple initial pose estimation results; selecting at least two initial pose estimation results capable of fusing from the multiple initial pose estimation results according to the camera pose difference; utilizing at least two initial pose estimation results to build optimized objective functions and constraint conditions thereof, and performing solving to obtain the correction increments of each initial pose estimation result; and utilizing the correction increments to obtain a target pose estimation result through calculation. The precision and confidence degree of the object pose estimation can be enhanced according to the technical scheme.

Description

technical field [0001] The present invention relates to the field of image and video processing, in particular to a method, device and electronic equipment for object pose estimation. Background technique [0002] The driver's behavior analysis is the most important thing for a safe driving system. The driver's head pose estimation is the basis for fatigue driving and distraction detection. It has attracted many researchers to optimize the driver's head pose estimation to Reduce the possibility of traffic accidents. Among them, vision-based pose estimation is widely used because of its non-intrusive work and easy deployment. Usually the posture of the head has 3 degrees of freedom, which can be represented by the angles in three orthogonal directions: Pitch (pitch angle), Roll (roll angle), and Yaw (yaw angle). These three angles correspond to a unique rotation matrix. Vision-based 3D pose estimation is to estimate the appropriate rotation and translation transformation o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/70G06K9/00
CPCG06V20/597
Inventor 熊怀欣
Owner RICOH KK
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