A method for determining pose information, a related device, and a storage medium

A technology of pose information and determination method, applied in the field of computer vision, can solve problems such as failure, and achieve the effect of accurate pose information

Active Publication Date: 2020-11-17
CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

When the 3D model has no texture, the method based on image feature matching will fail. Although a pose estimation method based on deep learning is proposed for this problem, this method can only be used

Method used

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  • A method for determining pose information, a related device, and a storage medium
  • A method for determining pose information, a related device, and a storage medium
  • A method for determining pose information, a related device, and a storage medium

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Embodiment Construction

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, various implementation modes of the present invention will be described in detail below in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that, in each implementation manner of the present invention, many technical details are provided for readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following implementation modes, the technical solution claimed in this application can also be realized.

[0029] The first embodiment of the present invention relates to a method for determining pose information, which is applied to a server. The specific process is as figure 1 shown, including the following steps:

[0030] In step 101, each object included in the first image is detected by an object detection...

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Abstract

The embodiment of the invention relates to the technical field of computer vision, and discloses a pose information determination method, a related device and a storage medium. The method comprises the following steps of detecting Each object contained in the first image through an object detection network, a second image containing a rectangular frame of each object is obtained, and one rectangular frame contains one object; Screening the rectangular frame of each object in the second image to obtain a third image containing the rectangular frame of the target object; Segmenting the third image through an edge segmentation network to obtain a fourth image only containing the target object; And obtaining pose information of the target object according to the fourth image. Therefore, the interference of background information in the image can be eliminated, and the pose information of the target object in the image can be accurately obtained.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of computer vision, and in particular to a method for determining pose information, a related device, and a storage medium. Background technique [0002] Object pose estimation refers to calculating the pose information of the object in the camera coordinate system. The pose estimation method of the current object is mainly to find the mapping from the image of the two-dimensional object under the current viewing angle to the three-dimensional model of the existing object, and then determine the pose of the current object. [0003] The inventors found that there are at least the following problems in the prior art: the pose estimation method in the prior art generally needs to know the texture of the surface of the three-dimensional object, and find the current object image and template library according to the traditional two-dimensional image feature matching method Image matching, a...

Claims

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Application Information

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IPC IPC(8): G06T7/70G06T7/12G06T7/194
CPCG06T7/12G06T7/194G06T7/70G06T2207/20081G06T2207/20084
Inventor 杜国光王恺廉士国
Owner CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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