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A monocular camera object pose estimation method and device based on deep learning

A pose estimation and deep learning technology, applied in computing, image analysis, instruments, etc., can solve the problem of high application cost of object pose estimation, and achieve the effect of reducing application cost

Active Publication Date: 2019-05-28
合肥哈工慧拣智能科技有限公司
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a method and device for estimating the object pose of a monocular camera based on deep learning to solve the application of object pose estimation costly technical issues

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  • A monocular camera object pose estimation method and device based on deep learning
  • A monocular camera object pose estimation method and device based on deep learning
  • A monocular camera object pose estimation method and device based on deep learning

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Embodiment Construction

[0061] The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

[0062] The embodiment of the present invention provides a method and device for estimating the object pose of a monocular camera based on deep learning. The following firstly introduces a method for estimating the object pose of a monocular camera based on deep learning provided by the embodiment of the present invention.

[0063] figure 1 A schematic flowchart of a method for estimating the pose of a monocular camera object based on deep learning provided by an embodiment of the present invention; figure 2 A schematic diagram of the principle of a method for estimating the pose of a monocular camera object based...

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Abstract

The invention discloses a monocular camera object pose estimation method based on deep learning. The method comprises the following steps of 1) generating a training set and a verification set according to the projection of an obtained three-dimensional image of an object in a two-dimensional space, object coordinates corresponding to the projection and a label file of the object; 2) learning thetraining set by using a cascade convolutional neural network model, and iterating hyper-parameters; and 3) testing the trained cascade convolutional neural network model by using the test set, and when the accuracy of the trained cascade convolutional neural network model is not less than a first preset threshold, carrying out object pose estimation by using the trained cascade convolutional neural network model. The invention discloses a monocular camera object pose estimation device based on deep learning. By applying the embodiment of the invention, the application cost of object pose estimation can be reduced.

Description

technical field [0001] The present invention relates to a pose estimation method and device, and more specifically to a method and device for estimating the pose of a monocular camera object based on deep learning. Background technique [0002] Pose estimation is a very important branch in the field of computer vision. After using the sensor to estimate the object pose, it is used to control the trajectory of the manipulator and the research on object grasping plays a great role (after estimating the object pose based on the sensor, it is used to Research fields such as planning the motion trajectory of the mechanical end and intelligent object grasping play a great role). The pose estimation algorithm is to seek the physical relationship between the real world and the image projected by the image, and then accurately estimate the world coordinates and three-dimensional orientation of the object. It has become a necessary preprocessing operation for many applications in the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73
CPCY02T10/40
Inventor 刘振范晓东王亚运程栋梁金霞红赵福臣
Owner 合肥哈工慧拣智能科技有限公司
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