A Pose Estimation Method for Target Objects in Robotic Arm Grasping 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
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[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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