Robot grabbing method, terminal and computer readable storage medium

Abstract

The embodiment of the invention relates to the field of computer vision and discloses a robot grabbing method, a terminal and a computer readable storage medium. The robot grabbing method comprises: obtaining the first grabbing position information of a to-be-grabbed object in a first image and the second grabbing position information of the to-be-grabbed object in a second image, wherein the second image is acquired in a preset radius range taking the acquisition position of the first image as a center; judging whether a first grabbing position and a second grabbing position are in the same position or not according to the first grabbing position information and the second grabbing position information; and executing grabbing operation if the first grabbing position and the second grabbing position are in the same position. In the embodiment, the predicting stability of the grabbing positions can be ensured, and grabbing success probability is increased.

Description

Technical field [0001] The embodiments of the present invention relate to the field of computer vision, and in particular, to a method, terminal, and computer-readable storage medium for robot grasping. Background technique [0002] With the continuous advancement of technology, intelligent robots have appeared. Intelligent robots usually need to interact with the environment, for example, to grasp objects in the surrounding environment. [0003] Common robot grasping methods mainly include: geometric analysis methods and data-driven methods. The geometric analysis method is to analyze the geometric structure of the object in the image, randomly sample the grasping positions, and determine whether each grasping position meets the force sealing condition, so as to determine a reasonable grasping position. The data-driven method relies on the data of the known grasping position, and directly or indirectly infers the grasping position of the current object through the machine learni...

AI Technical Summary

Problems solved by technology

[0004] The inventor found that there are at least the following problems in the related technology: currently, the robot determines the grasping position according to the data of the collected image, and directly grasps according to the determined grasping position. Due to objective reasons, the collected image is not accurate, which leads to the robot The object cannot be grasped stably, resulting in the failure of grasping

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