A Real-Time Pose Estimation Method and Positioning and Grabbing System of a 3D Target Object

A target object, pose estimation technology, applied in computing, computer components, image enhancement and other directions, can solve problems such as low efficiency and accuracy, and achieve the effect of reducing the number and speeding up information processing

Active Publication Date: 2022-01-11
SHENZHEN HUAHAN WEIYE TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] In view of this, in order to solve the problem of low efficiency and accuracy of object pose estimation when relying on robots for parts recognition in current industrial production, this application provides a real-time pose estimation method and positioning and grasping system for three-dimensional target objects

Method used

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  • A Real-Time Pose Estimation Method and Positioning and Grabbing System of a 3D Target Object

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Embodiment 1

[0048] Please refer to figure 1 , the present application discloses a method for estimating a real-time pose of a three-dimensional target object, including steps S100-S400, which are described below respectively.

[0049] Step S100, acquiring three-dimensional graphic information of a target object.

[0050] It should be noted that the target object here may be a product on an industrial assembly line, a mechanical part in an object box, a tool on an operating table, etc., and is not specifically limited. Then, the three-dimensional graphic information of these target objects can be obtained through visual sensing instruments such as camera equipment, laser scanning equipment, etc., and the graphic information may be a part of the appearance shape data of the surface of the target object.

[0051] Step S200, calculate and obtain the local feature descriptor of the target object according to the graphic information. In a specific example, see figure 2 , step S200 may inclu...

Embodiment 2

[0155] Please refer to Figure 11 , the present application discloses a positioning and grasping system for a target object. The positioning and grasping system mainly includes a sensor 11, a processor 12, and a controller 13, which will be described separately below.

[0156] The sensor 11 is used to collect images of the target object to form three-dimensional graphic information of the target object. The sensors 11 here may be some visual sensors with image acquisition functions, such as camera equipment and laser scanning equipment. The target object here may be a product on an industrial assembly line, a mechanical part in an object box, a tool on an operating table, etc., and is not specifically limited.

[0157] The processor 12 is connected to the sensor 11 and used to obtain the pose information of the target object relative to the sensor 11 through the real-time pose estimation method disclosed in the first embodiment.

[0158] The controller 13 is connected to the...

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Abstract

A real-time pose estimation method of a three-dimensional target object and a positioning and grasping system, the real-time pose estimation method comprising: obtaining three-dimensional graphic information of the target object; calculating a local feature descriptor of the target object according to the graphic information; using a pre-established The three-dimensional model database of the target object is estimated through the local feature descriptor to obtain the pose information of the target object; the obtained pose information is output. This application applies the real-time pose estimation method for protection to the positioning and grasping system of a three-dimensional target object, which enables the controller to control the motion mechanism to accurately grasp the target object according to the pose information output by the processor. At the same time, it can effectively improve the grasping accuracy and enhance the practical performance of the positioning and grasping system in the application process.

Description

technical field [0001] The invention relates to the technical field of machine vision, in particular to a method for estimating a real-time pose of a three-dimensional target object and a positioning and grabbing system. Background technique [0002] In today's manufacturing industry, the time spent in the assembly process accounts for 20%-70% of the entire manufacturing process, and the money spent accounts for more than 40% of the production cost, including a large part of human labor costs. In order to improve production efficiency and reduce labor costs, people began to explore the use of robots to realize automated assembly. As an indispensable and important link in the automated assembly process, part recognition and grasping position planning have a vital impact on the quality of assembly. Vision-based part pose determination and grasping position planning can significantly improve the automation of product assembly. Flexibility, reduce time-consuming and reduce cost...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/73G06T7/33G06T17/00G06K9/62G06F16/51
CPCG06T7/73G06T7/33G06T17/00G06F16/51G06T2207/10028G06F18/23
Inventor 杨洋
Owner SHENZHEN HUAHAN WEIYE TECH
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