Pose determination method, pallet loading method, device, medium and electronic equipment

Abstract

The present disclosure relates to the field of computer technology, and in particular to a pose determining method, a pallet loading method, a pose determining device, a pallet loading device, a computer-readable storage medium, and electronic equipment. The pose determination method provided by the embodiments of the present disclosure includes: acquiring an image containing a target object through an image acquisition device; determining a plurality of feature points of the target object based on the image, and acquiring each of the feature points in the image The pixel coordinates; input the pixel coordinates into the pre-trained neural network to obtain the depth information of each of the feature points and the rotation angle information of the target object; determine the target according to the depth information and the rotation angle information The pose information of the object relative to the image acquisition device. The pose determination method provided by the embodiments of the present disclosure can improve the robustness and universality of pose prediction.

Description

technical field [0001] The present disclosure relates to the field of computer technology, and in particular to a pose determining method, a pallet loading method, a pose determining device, a pallet loading device, a computer-readable storage medium, and electronic equipment. Background technique [0002] Pose measurement is widely used in many technical fields, especially in the automatic control of industrial robots. Accurate measurement of the position and attitude information of static objects or dynamic objects in three-dimensional space is an important part of controlling robots to complete space tasks. . [0003] For example, in the field of warehousing and logistics, forklifts are required to transport a large number of goods on pallets. In the traditional pallet transportation mode, after the driver obtains the transportation information, he drives a forklift or a hand-push forklift to pick up the pallet and load and transport the pallet goods, which requires a lo...

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Problems solved by technology

[0006] The purpose of the present disclosure is to provide a pose determining method, a pallet loading method, a pose determining device, a pallet loading device, a computer-readable storage medium, and an electronic device, so as to overcome the limitations caused by the limitations of related technologies at least to a certain extent. Technical issues with poor robustness and universality

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