Point cloud registration method, system and readable storage medium based on bayesian optimization

Abstract

The invention discloses a point cloud registration method based on Bayesian optimization, a system and a readable storage medium. The method comprises the following steps: obtaining a contour point cloud of a target object and a template contour point cloud; Build the initial data set; According to the Bayesian optimization algorithm, the initial angle is selected. According to the initial angle,the contour point cloud is rotated and translated to obtain a new contour point cloud. The new contour point cloud and the template contour point cloud are registered by ICP, and the fitness is obtained. And extracting a rotation parameter and a translation parameter of the target object based on the first fitness to estimate a pose of the target object. The invention utilizes the contour point cloud of the target object to carry out registration and optimization based on the Bayesian optimization algorithm, and finds out the relatively optimized initial position and posture of the target object, so that the robot adjusts the picking action according to the initial position and posture, and quickly completes the picking of the target object.

Description

technical field [0001] The present invention relates to the field of robot technology, in particular to a point cloud registration method, system and readable storage medium based on Bayesian optimization. Background technique [0002] In daily production, the use of robots to pick up scattered parts and other objects can greatly improve production efficiency, and the principle of automatic picking by robots is to obtain the point cloud to be matched of the target to be picked up. Through accurate registration of the point cloud to be matched and the template point cloud, it can Accurately estimate the pose of the target to be picked up, and then guide the robotic arm of the robot to pick up. It can be seen from this that in the process of the robot picking up the target, the accuracy of registration is very high. [0003] At present, the nearest iterative (ICP) algorithm is the most widely used registration algorithm, but the ICP algorithm has relatively high requirements ...

AI Technical Summary

Problems solved by technology

[0005] The main purpose of the present invention is to propose a point cloud registration method, system and readable storage medium based on Bayesian optimization, aiming to solve the problem that the existing 3D point cloud image registration speed is relatively slow, resulting in slow robot picking efficiency question

Images