Pose estimation method based on self-supervised learning

A pose estimation and supervised learning technology, applied in the field of pose estimation based on self-supervised learning, can solve the problem of low accuracy of the complete trajectory, and achieve the effect of enhancing the ability of high-level feature extraction and high precision

Active Publication Date: 2020-06-23
EAST CHINA UNIV OF SCI & TECH
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Problems solved by technology

[0033] The purpose of the present invention is to provide a scale-consistency pose estimation method based on self-supervised learnin...

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  • Pose estimation method based on self-supervised learning
  • Pose estimation method based on self-supervised learning
  • Pose estimation method based on self-supervised learning

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[0079] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the invention, not to limit the invention.

[0080] Aiming at the problems and deficiencies of the existing pose estimation network, the present invention proposes a scale-consistent pose estimation method based on self-supervised learning, and realizes self-supervised learning by joint training of pose estimation network and depth estimation network.

[0081] figure 1 A flow chart of a pose estimation method according to an embodiment of the present invention is disclosed, in figure 1 In the shown embodiment, a kind of pose estimation method based on self-supervised learning that the present invention proposes, comprises the following steps:

[0082] S1. ...

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Abstract

The invention relates to the field of cross fusion in the field of computer vision and artificial intelligence, in particular to a pose estimation method based on self-supervised learning. The methodcomprises the following steps: S1, acquiring an image; s2, performing image preprocessing; s3, sending the current frame of image and the previous frame of image to a pose estimation network together,and solving pose estimation between the two frames, wherein the pose estimation network is obtained by training in a self-supervised learning mode by combining with a deep estimation network; and S4,solving the global pose of the current frame according to the global pose of the previous frame and the pose estimation between the current frame and the previous frame. According to the method, self-supervised learning is realized in a pose estimation network and depth estimation network joint training mode, an attention mechanism is added into the pose estimation network and the depth estimation network, finally, consistency scale estimation of long-sequence inter-frame pose transformation is realized, and the generated complete track is higher in precision.

Description

technical field [0001] The present invention relates to the cross-fusion field of computer vision and artificial intelligence, and more specifically, relates to a pose estimation method based on self-supervised learning. Background technique [0002] Autonomous unmanned devices such as unmanned aerial vehicles and unmanned vehicles mainly rely on perception, decision-making and control to achieve autonomy, and perception is the basis of everything. Perception is to give unmanned equipment the ability to observe and feel like a human. Human information acquisition mainly relies on vision. Unmanned equipment also hopes to use the camera to perceive the surrounding environment like humans use their eyes, and know their current position and direction. [0003] Therefore, computer vision has developed rapidly in recent years. The current methods for estimating the position and direction of the device mainly include artificial guidance, dead reckoning and GPS navigation and posi...

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Application Information

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IPC IPC(8): G06T7/73G06N3/04G06N3/08
CPCG06T7/73G06N3/08G06T2207/10016G06T2207/20081G06T2207/20084G06T2207/30241G06T2207/20016G06N3/045Y02T10/40
Inventor 唐漾杜文莉钱锋张文乐
Owner EAST CHINA UNIV OF SCI & TECH
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