Attitude prediction method and device and model training method and device
A technology for predicting models and attitudes, applied in the field of computer vision to achieve the effect of improving accuracy
Active Publication Date: 2019-11-26
TSINGHUA UNIV
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Problems solved by technology
[0003] Object pose estimation is easily affected by factors such as occlusion, illumination changes, and symmetry of the object. It is very challenging to accurately estimate the amount of rotation and translation of the camera relative to the target object.
In related technologies, it is difficult to estimate the rotation amount and the translation amount at the same time with high accuracy
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[0023] Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
[0024] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as superior or better than other embodiments.
[0025] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific implementation manners. It will be understood by those skilled in the art that the present disclosure may be practiced without some of the specific details. In some instances, methods, means, componen...
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The invention relates to an attitude prediction method and a model training method and device, and the method comprises the steps: carrying out the target recognition of a to-be-predicted first image,and determining an area where a target object is located; determining a target image according to the area of the target object; inputting the target image into an attitude decoupling prediction model, and carrying out attitude prediction; and determining the rotation amount and the translation amount of the target object according to the output result of the rotation amount branch network and the output result of the translation amount branch network of the attitude decoupling prediction model. By decoupling the rotation and translation in the object attitude, the attitude prediction method,the model training method and the model training device according to the embodiment of the invention can improve the accuracy of attitude prediction.
Description
technical field [0001] The present disclosure relates to the field of computer vision, and in particular to an attitude prediction method, a model training method and a device. Background technique [0002] Object pose estimation plays a vital role in robotic operations, autonomous driving, augmented reality, and more. Object pose estimation refers to accurately estimating the pose information of the target object relative to the camera from the picture. Pose information usually includes rotation and translation, where the rotation can represent the rotation relationship of the camera coordinate system relative to the target object coordinate system, and the translation can represent the translation information of the origin of the camera coordinate system relative to the origin of the target object coordinate system. [0003] Object pose estimation is easily affected by factors such as occlusion, illumination changes, and symmetry of the object. It is very challenging to a...
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IPC IPC(8): G06T7/73G06K9/20G06K9/34G06K9/46
CPCG06T7/73G06T2207/20081G06T2207/20084G06V10/22G06V10/26G06V10/44G06V2201/07G06T7/70
Inventor 季向阳李志刚
Owner TSINGHUA UNIV