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Transparent object grabbing control method and device, terminal and storage medium

A technology of transparent objects and control methods, which is applied in the field of image processing and can solve problems such as low accuracy

Pending Publication Date: 2021-07-23
GUANGDONG UNIV OF TECH
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Problems solved by technology

[0003] The present application provides a transparent object grasping control method, device, terminal and storage medium, which are used to solve the technical problem of low accuracy in the prediction of the grasping frame of transparent objects in the prior art

Method used

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  • Transparent object grabbing control method and device, terminal and storage medium
  • Transparent object grabbing control method and device, terminal and storage medium
  • Transparent object grabbing control method and device, terminal and storage medium

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Embodiment Construction

[0037] Embodiments of the present application provide a transparent object grasping control method, device, terminal, and storage medium, which are used to solve the technical problem of low accuracy in predicting the grasping frame of a transparent object in the prior art.

[0038] In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the following The described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0039] see figure 1 , the first embodiment of the presen...

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Abstract

According to the transparent object grabbing control method and device, the terminal and the storage medium provided by the invention, the missing depth region is filled through the surface normal based on the color image containing the target transparent object in combination with the global optimization algorithm, Meanwhile, the shape of the transparent object is compensated according to the depth discontinuity displayed by the shielding boundary; and depth parameter compensation is carried out on the depth image, so that the image capable of completely restoring the depth information of the transparent object is obtained, and the technical problem of low prediction accuracy of the capture frame of the transparent object in the prior art due to the lack of the depth information is solved.

Description

technical field [0001] The present application relates to the technical field of image processing, and in particular to a transparent object grasping control method, device, terminal and storage medium. Background technique [0002] With the general trend of production mechanization and automation, depth cameras, as the basis of machine vision, have also been widely popularized along with the application of automated robots. However, when facing light-transmitting objects, such as reading glasses, plastic bottles and transparent materials etc., its unique visual characteristics make the shape of the transparent object captured by the depth camera generally flat or full of small holes, which leads to the loss of depth information and makes the existing technology's grasping frame prediction of transparent objects The technical problem of low accuracy. Contents of the invention [0003] The present application provides a transparent object grasping control method, device, t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T1/00
CPCG06T7/73G06T1/0014G06T2207/10024G06T2207/10028G06T2207/20221G06T2207/20084
Inventor 刘文印唐颖杰陈俊洪
Owner GUANGDONG UNIV OF TECH
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