Three-dimensional pose estimation method of deformed object and positioning grabbing system

A technology of three-dimensional pose and deformation, applied in computing, image data processing, instruments, etc., can solve problems such as difficult to guarantee retention

Active Publication Date: 2020-04-10
SHENZHEN HUAHAN WEIYE TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But in general, due to the approximate characteristics of the digital model, it is difficult to guarantee complete retention, even if the rigid body deformation occurs, this problem may still exist

Method used

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  • Three-dimensional pose estimation method of deformed object and positioning grabbing system
  • Three-dimensional pose estimation method of deformed object and positioning grabbing system
  • Three-dimensional pose estimation method of deformed object and positioning grabbing system

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Experimental program
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Effect test

Embodiment 1

[0046] Please refer to figure 1 , the present application discloses a method for establishing a 3D deformable template database, where the 3D deformable template database is used for 3D pose estimation of deformable objects, and the establishing method includes steps S110-S160, which will be described separately below.

[0047] Step S110, acquiring the template data of the 3D model corresponding to the deformable object in the reference state, and the deformation data in each deformation state.

[0048] It should be noted that the reference state of the deformable object may be a state in which the surface of the object is not deformed in the original situation, and the deformed state is a state other than the reference state. For the 3D model of the deformable object, the template information or deformation data of the 3D model can be obtained in various ways, such as directly importing the modeling model of the deformable object (such as a CAD model, ProE model), so as to ob...

Embodiment 2

[0080] Please refer to Figure 5 , on the basis of the 3D deformable template database disclosed in Embodiment 1, the present application discloses a method for estimating a 3D pose of a deformed object, which includes steps S210-S240, which will be described separately below.

[0081] Step S210, obtain the three-dimensional scene data of the deformable object in any deformation state, and construct the scene point pair set of the deformable object according to the scene data; the scene point pair set here includes a plurality of scene point pairs, and the scene point pair consists of Any two scene points form.

[0082] In a specific embodiment, after obtaining the three-dimensional scene data of the deformable object in any deformation state, the scene point pair set of the deformable object is established through the following specific steps:

[0083] (1) According to the preset sampling interval, the point cloud data formed by the scene data is discretized and sampled to f...

Embodiment 3

[0130] Please refer to Figure 11 , the present application discloses a positioning and grabbing system for deformable objects, which includes a sensor 31 , a processor 32 , a controller 33 and a motion mechanism 34 .

[0131] The sensor 31 is used to collect images of the deformable object to form three-dimensional scene data of the deformable object in the current deformation state. The sensors 31 here may be some visual sensors with image acquisition functions, such as camera equipment and laser scanning equipment. The deformable object here can be a product on an industrial assembly line, a mechanical part in an object box, a tool on an operating table, etc. It does not have to be a rigid non-deformable object, but can be an object with slight deformation characteristics, without specific limitation.

[0132] The processor 32 is connected to the sensor 31, and is used to obtain the pose information of the deformed object through the three-dimensional pose estimation metho...

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Abstract

The invention discloses a three-dimensional pose estimation method of a deformed object and a positioning grabbing system. The pose estimation method comprises the steps of: obtaining three-dimensional scene data of the deformed object in any deformation state, and building a scene point pair set of the deformed object according to the scene data, utilizing a pre-established three-dimensional deformation template database to obtain a template point pair set of the deformation object, and constructing a graph model according to the scene point pair set and the template point pair set, and performing optimization calculation to obtain a connection edge with the largest matching number of nodes in the graph model, and performing three-dimensional pose estimation on the deformed object according to the nodes corresponding to the connection edge to obtain pose information of the deformed object. According to the technical scheme, a three-dimensional pose estimation problem of a deformed object can be converted into an optimization calculation problem of a graph model, as long as the eigenvector corresponding to the maximum eigenvalue of the output matrix is obtained through optimizationcalculation, the relative pose of the deformed object in the scene converted into the template coordinate system can be determined, so that the pose information of the deformed object can be conveniently obtained.

Description

technical field [0001] The invention relates to the technical field of machine vision, in particular to a method for estimating a three-dimensional pose of a deformable object and a positioning and grasping system. Background technique [0002] In today's manufacturing industry, the assembly process takes a lot of time and money. In order to improve production efficiency and reduce labor costs, people have begun 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 costs, thereby improving manufacturing efficiency. Robotic automated assembly involves two key technologies: part recognition and automatic grasping. Facing the comp...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T17/00
CPCG06T7/73G06T17/00
Inventor 杨洋
Owner SHENZHEN HUAHAN WEIYE TECH
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