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Pose estimation method for target object in mechanical arm grabbing system

A target object and pose estimation technology, which is applied in 3D object recognition, calculation, computer parts and other directions, can solve the problems of lack of object pose estimation methods, etc., and achieve the effect of reducing test time and improving detection accuracy

Active Publication Date: 2020-01-24
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem in the prior art that there is a lack of a stable and reliable object pose estimation method that meets certain real-time requirements, the present invention provides a method for estimating the pose of a target object in a manipulator arm grasping system

Method used

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  • Pose estimation method for target object in mechanical arm grabbing system
  • Pose estimation method for target object in mechanical arm grabbing system
  • Pose estimation method for target object in mechanical arm grabbing system

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Embodiment 1

[0030] Such as figure 1 As shown, the present invention provides a method for estimating the pose of a target object in a robotic arm grasping system, comprising the following steps:

[0031] S1: render the training data set;

[0032] S2: constructing a pose estimation cascade network of the target object, the cascade network adopts three lightweight network cascades;

[0033] S3: Train the pose estimation cascade network of the target object.

[0034] Such as figure 2 As shown, the pose estimation method for the target object in the robotic arm grasping system provided by the present invention also includes at least one of the following steps:

[0035] S4: Evaluate the pose estimation cascade network of the target object;

[0036] S5: testing the pose estimation cascade network of the target object;

[0037] S6: Analyzing the running time of the pose estimation cascade network of the target object.

[0038] Specifically, as follows:

[0039] Step 1: OpenGL rendering t...

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Abstract

The invention provides a pose estimation method for a target object in a mechanical arm grabbing system. The pose estimation method comprises the following steps of S1, rendering a training data set;S2, constructing a pose estimation cascade network of the target object, wherein the cascade network adopts a mode of cascading three lightweight networks; and S3, training the pose estimation cascadenetwork of the target object. By adopting the cascade network, the attitude estimation problem becomes a classification problem, the network training test time is reduced, and the detection precisionis improved.

Description

technical field [0001] The invention relates to the technical field of artificial intelligence, in particular to a pose estimation method for a target object in a manipulator grab system. Background technique [0002] With the development of science and technology, especially the development of computer technology and the availability of massive data, artificial intelligence has once again set off a wave. Among them, computer vision has achieved good results in object recognition and classification, and has also been applied to other aspects. In these fields, when the operation object of the manipulator is some specific objects, such as various metals or non-metals, deformable or non-deformable parts, items in the logistics industry, etc., it is usually necessary to know the relative position of the object relative to the manipulator. location, so that the robotic arm can be planned to reach the target object to perform the corresponding operation. In addition, the simple ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/62G06T7/70G06T3/00
CPCG06T7/70G06T2207/20016G06T2207/20081G06T2207/10012G06V20/64G06V20/10G06F18/241G06F18/214G06T3/067
Inventor 梁斌孙井花王学谦李志恒徐峰刘厚德
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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