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Method and device for detecting pickup point of object, equipment, medium and robot

A technology for picking up points and objects, applied in the computer field

Pending Publication Date: 2020-06-26
SHENZHEN SENSETIME TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In the embodiment of the present disclosure, by combining the image to be detected and the information in the depth map, the problem of a large amount of noise often existing in the depth map can be overcome, so that a more accurate position of the point to be picked up and the method corresponding to the point to be picked up can be predicted. vector

Method used

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  • Method and device for detecting pickup point of object, equipment, medium and robot
  • Method and device for detecting pickup point of object, equipment, medium and robot
  • Method and device for detecting pickup point of object, equipment, medium and robot

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Embodiment Construction

[0043] Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0044] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as superior or better than other embodiments.

[0045] The term "and / or" in this article is just an association relationship describing associated objects, which means that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist simultaneously, and there exists alone B these three situations. In addition, the term "at least one" herein mean...

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Abstract

The invention relates to a method and device for detecting a pickup point of an object, equipment, a medium and a robot. The method comprises the steps of obtaining a to-be-detected image and a firstdepth map corresponding to the to-be-detected image; inputting the to-be-detected image and the first depth map into a neural network, outputting a first position prediction map of a pickup point corresponding to the to-be-detected image and a first normal vector prediction map corresponding to the to-be-detected image through the neural network, the neural network being trained in advance in combination with a training image and a second depth map corresponding to the training image; and according to the first position prediction map, the first depth map and the first normal vector predictionmap, determining position information of a to-be-picked point of an object in the to-be-detected image and a normal vector corresponding to the to-be-picked point.

Description

technical field [0001] The present disclosure relates to the field of computer technology, and in particular to a method, device, device, medium and robot for detecting a pick-up point of an object. Background technique [0002] With the development of computer software and hardware technology, artificial intelligence technology is becoming more and more mature. As an important application of artificial intelligence to the ground, robots have received extensive attention. Robots can be used in national defense, industrial production, logistics and other fields. In the process of logistics sorting and industrial production, when multiple objects of various types are placed tightly or loosely on containers (such as transfer boxes) or on the table, how to accurately detect the pick-up point of each object is an urgent problem. The problem. Contents of the invention [0003] The present disclosure provides a technical solution for detecting a pick-up point of an object. ...

Claims

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Application Information

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IPC IPC(8): G06T7/73G06T1/00G06K9/62
CPCG06T7/73G06T1/0014G06T2207/10028G06T2207/20084G06T2207/20081G06T2207/30164G06F18/253
Inventor 吴华栋高鸣岐周韬成慧
Owner SHENZHEN SENSETIME TECH CO LTD
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