Three-dimensional attitude estimation method in disordered grabbing based on SHOT and ICP algorithms

Abstract

The invention relates to a three-dimensional attitude estimation method in disordered grabbing based on SHOT and ICP algorithms. The method is used for object pose estimation in the disordered grabbing process. A good initial position is provided for ICP fine registration through an SHOT coarse matching method, an M matrix in an SHOT algorithm is constructed, eigenvalue decomposition is carried out, and then a local reference system is constructed; topological characteristics under a corresponding reference system are calculated, a result is stored in a histogram, Hough transform is performedon a characteristic extraction result corresponding to the model and the scene point cloud, wrong point pairs are eliminated, and resolving is performed to obtain a final coarse registration attitudeestimation result; and nearest point searching is carried out by using an ICP algorithm, a covariance matrix construction is constructed, and a rotation matrix and a translation vector for minimizingan objective function are calculated. The problem that the registration precision is reduced when the traditional ICP is applied to the collection of point clouds with holes due to the reflection of workpieces is solved.

Description

technical field [0001] The invention relates to the technical field of three-dimensional attitude estimation, and mainly relates to a three-dimensional attitude estimation method in disorderly grasping based on SHOT and ICP algorithms. Background technique [0002] At present, there have been many research results on image-based object recognition and attitude estimation, but the imaging process of two-dimensional images is mapped from three-dimensional space to two-dimensional space, which will lose a lot of information; and a fact that cannot be ignored is that the most A good vision system should be oriented to the three-dimensional world. With the improvement of automation, the requirements for computer vision systems in many fields such as robot navigation, industrial parts detection and grasping are getting higher and higher. Therefore, object recognition and pose estimation based on two-dimensional images can no longer meet the requirements of human beings. At presen...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of object pose estimation in the disorderly grasping process, the present invention provides a three-dimensional pose estimation in disorderly grasping based on SHOT and ICP algorithms with strong anti-noise ability, high robustness and high precision Method for 3D object recognition and pose estimation in industrial sites

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