Coordinate conversion matrix determination method and device, storage medium and electronic device
A technology of coordinate conversion matrix and determination method, which is applied in image data processing, instrumentation, calculation, etc., and can solve the problem of low accuracy of hand-eye calibration
Pending Publication Date: 2020-11-10
ZHEJIANG DAHUA TECH CO LTD
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[0006] Embodiments of the present invention provide a method and device for determining a coordinate transformation matrix, a storage medium, and an electronic device, so as to at least solve the problem of realizing hand-eye detection through a calibration device (for example, a robot) in the case of low precision of a 3D depth camera in the related art. Calibration accuracy is not high
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[0026] Hereinafter, the present invention will be described in detail with reference to the drawings and examples. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.
[0027] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances for the embodiments of the application described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed Those steps or e...
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The invention provides a coordinate transformation matrix determination method and device, a storage medium and an electronic device, and the method comprises the steps: obtaining a plurality of pieces of three-dimensional coordinate data of a plurality of pieces of identification information on a calibration board, and a plurality of calibration equipment coordinates corresponding to calibrationequipment when the calibration equipment moves to a plurality of positions of the calibration board, wherein the plurality of pieces of identification information are respectively and correspondinglyarranged at the plurality of positions; training a neural network model according to the plurality of three-dimensional coordinate data and the plurality of calibration equipment coordinates to determine a coordinate conversion matrix corresponding to the neural network model, the coordinate conversion matrix being used for converting the three-dimensional coordinate data output by the depth camera and the calibration equipment coordinates. By the adoption of the technical scheme, the problem that in the prior art, under the condition that the precision of a 3D depth camera is not high, the precision of hand-eye calibration achieved through calibration equipment (such as a robot) is not high is solved.
Description
technical field [0001] The present invention relates to the communication field, in particular to a method and device for determining a coordinate transformation matrix, a storage medium, and an electronic device. Background technique [0002] In the calibration process of the control robot and the depth camera coordinate system, the depth camera is used to identify and detect objects, and the robot is controlled to grasp the target, but there will be problems such as low precision in this grasping process. [0003] A technical solution is provided in the related art: the robot moves multiple positions with calibration, and the transformation relationship between the robot and the depth camera coordinate system is obtained through the transformation of the three coordinate systems, for example, Among them: T is the coordinate system transformation between the robot and the depth camera, and the matrix can be obtained by T by establishing multiple equations; among them: the ...
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CPCG06T7/80G06T2207/20081G06T2207/20084
Inventor 樊强汪鹏飞任宇鹏卢维
Owner ZHEJIANG DAHUA TECH CO LTD