Method and device for determining three-dimensional pose of target object and electronic equipment

A target object, three-dimensional pose technology, applied in image data processing, instruments, manipulators, etc., can solve the problems of the robotic arm being unable to operate the equipment, unable to determine the three-dimensional pose, etc., and achieve the effect of accurate three-dimensional pose

Active Publication Date: 2019-10-01
BEIJING ORION STAR TECH CO LTD
View PDF10 Cites 14 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] It can be seen that in the above-mentioned way that the mechanical arm operates the equipment, the three-dimensional pose of the equipment is fixed, and the mechanical arm moves and operates the equipment according to a fixed movement scheme. Obviously, once the equipment moves, its If the three-dimensional pose changes, the three-dimensional pose of the device after the change cannot be determined, and the robotic arm cannot operate the device

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method and device for determining three-dimensional pose of target object and electronic equipment
  • Method and device for determining three-dimensional pose of target object and electronic equipment
  • Method and device for determining three-dimensional pose of target object and electronic equipment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach

[0130] As an implementation manner of the embodiment of the present invention, the above-mentioned first transformation matrix determination module 620 may include:

[0131] The transformation matrix determines the unit ( Figure 6 not shown in ), used to calibrate the camera according to the feature point information of the visual positioning mark in the image, and obtain a transformation matrix between the visual positioning mark coordinate system and the camera coordinate system.

[0132] As an implementation manner of the embodiment of the present invention, the above-mentioned three-dimensional pose acquisition module 640 may include:

[0133] The parameter acquisition submodule ( Figure 6 not shown in ), used to obtain the relative positional relationship between the target object and the visual positioning mark and the geometric parameters of the target object;

[0134] 3D pose acquisition sub-module ( Figure 6 not shown in ), used to determine the three-dimensiona...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The embodiment of the invention provides a method and device for determining a three-dimensional pose of a target object and electronic equipment. The method comprises the following steps: acquiring an image which is acquired by a camera and contains a visual positioning identifier; according to the image, determining a conversion matrix of a visual positioning identification coordinate system anda camera coordinate system as a first conversion matrix; acquiring a three-dimensional pose of the target object in the visual positioning identification coordinate system; and according to the three-dimensional pose of the target object in the visual positioning identification coordinate system and the first conversion matrix, determining the three-dimensional pose of the target object relativeto the camera coordinate system, the visual positioning identification being a flat plate with a specific pattern. Due to the fact that the pattern of the visual positioning identification is specific, the coordinate points on the pattern can be accurately determined, and the conversion matrix of the visual positioning identification coordinate system and the camera coordinate system can be determined, and then the three-dimensional pose of the target object relative to the camera coordinate system can be accurately determined.

Description

technical field [0001] The invention relates to the technical field of artificial intelligence, in particular to a method, device and electronic equipment for determining a three-dimensional pose of a target object. Background technique [0002] With the continuous development of artificial intelligence, the application of various intelligent devices is becoming more and more extensive. Among them, using the mechanical arm to operate the equipment to realize the operation of the equipment is one of the technologies with important application prospects. For example, using the mechanical arm to make coffee During the process, the robotic arm can be used to press the button of the coffee machine to operate the coffee machine to perform tasks such as making espresso and frothing milk. [0003] When using the robotic arm to operate the equipment, the three-dimensional pose of the general equipment is fixed, then the relative positional relationship between the equipment and the r...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & AuthorityApplications(China)
IPC IPC(8): G06T7/70B25J9/16
CPCB25J9/1697G06T7/70
Inventor赵哲
OwnerBEIJING ORION STAR TECH CO LTD