Robot scene self-adaptive pose estimation method based on RGB-D camera
A technology for pose estimation and robotics, applied in instrumentation, computing, image data processing, etc., can solve problems such as algorithm failure, sparse regional scene features, and inability to obtain pose estimation
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[0111] The present invention will be further described below with reference to the drawings and embodiments.
[0112] The RGB-D camera can simultaneously acquire a two-dimensional color image I and a three-dimensional point cloud D of the scene, wherein the two-dimensional color image I t (u,v) and 3D point cloud D t (u,v) According to the two-dimensional color image pixel point one-to-one correspondence, that is, the pixel point I in the u-th row and v-th column in the two-dimensional color image t (u,v) and 3D point cloud D (u,v) (x,y,z) corresponding to the three-dimensional point cloud D (u,v) (x, y, z) refers to the depth information of the pixels in the u-th row and the v-th column in the two-dimensional color image; the three-dimensional point cloud D refers to the three-dimensional point set corresponding to all the pixels of the two-dimensional color image.
[0113] Such as figure 1 Shown is a flowchart of the present invention. A robot scene adaptive pose estimation method...
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