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Target object pose determination method and device, storage medium and electronic equipment

A target object, pose technology, applied in the field of robotics and computer vision, can solve the problem of low accuracy

Active Publication Date: 2021-03-02
CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of this disclosure is to provide a method, device, storage medium and electronic equipment for determining the pose of a target object to solve the problem of low accuracy in determining the pose of a target object in the related art

Method used

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  • Target object pose determination method and device, storage medium and electronic equipment
  • Target object pose determination method and device, storage medium and electronic equipment
  • Target object pose determination method and device, storage medium and electronic equipment

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Embodiment

[0149] 1. A method for determining the pose of a target object, comprising:

[0150] determining the target coordinates of each input point in the target object according to the 3D point cloud corresponding to the target object;

[0151] Based on the down-sampling method, generating seed points according to the target coordinates of each input point;

[0152] Inputting the original coordinates of each of the seed points into the deep neural network model to obtain the center point coordinates and the original point coordinates of each of the seed points;

[0153] The 6D pose of the target object is determined according to the center point coordinates and the home point coordinates of each of the seed points.

[0154] 2. The method according to embodiment 1, wherein the deep neural network model generates the center point coordinates and the original point coordinates of each of the seed points in the following manner:

[0155] determining a displacement deviation and a rotat...

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PUM

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Abstract

The invention relates to a target object pose determination method and device, a storage medium and electronic equipment and aims to solve the problem of relatively low accuracy of target object posedetermination in related technologies, and the method comprises the steps of determining target coordinates of each input point in a target object according to 3D point cloud corresponding to the target object; based on a down-sampling method, generating seed points according to the target coordinates of each input point; inputting the original coordinate of each seed point into a deep neural network model to obtain a central point coordinate and an in-situ point coordinate of each seed point; and determining the 6D pose of the target object according to the central point coordinate and the in-situ point coordinate of each seed point. Accuracy of determining the pose of the target object is improved.

Description

technical field [0001] The present disclosure relates to the technical field of robots and computer vision, and in particular, to a method, device, storage medium and electronic equipment for determining the pose of a target object. Background technique [0002] The 6D object pose (6D Object Pose Estimation) refers to the translation and rotation transformation of the camera coordinate system relative to the world system where the original object is located at the moment of shooting the current image. Among them, there are 3 displacement degrees of freedom and 3 rotation degrees of freedom. The ability to accurately locate objects based on their 6D pose is of great significance in the fields of robot grasping and augmented reality applications. [0003] In related technologies, the 6D pose of the specific object in the camera system is calculated based on the 3D data of the specific object, based on the 3D point cloud or based on the RGB-D image. For example, based on the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/66G06N3/04G06N3/08
CPCG06T7/73G06T7/66G06N3/08G06T2207/10032G06T2207/20084G06T2207/20081G06N3/045
Inventor 不公告发明人
Owner CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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