Method and device for determining pose of target object, equipment and storage medium
A technology of target object and determination method, applied in the field of computer vision, can solve problems such as poor positioning effect, achieve accurate positioning, solve poor positioning effect, and improve the effect of positioning effect
Pending Publication Date: 2021-08-27
THUNDERSOFT
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[0006] Embodiments of the present invention provide a method, device, device, and storage medium for determining the pose of a target object, which solves the problem of poor positioning effect in existing technical solutions, and improves the positioning effect of target object positioning
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[0047] The characteristics and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only configured to explain the present invention, not to limit the present invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by showing examples of the present invention.
[0048]It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and d...
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The embodiment of the invention discloses a method and device for determining pose of target object, equipment and a storage medium. The method comprises the following steps: firstly, acquiring image data of a target object through at least one image acquisition device, then determining the pose of the target object in a coordinate system of the image acquisition device through a preset algorithm according to the image data, and finally determining the pose of the target object in a target map coordinate system according to the pose and a target object coordinate conversion model, wherein, the target object coordinate conversion model is determined according to the coordinate system of the image acquisition equipment, the coordinate system of the calibration plate and the pose of the calibration plate in the preset map coordinate system. According to the embodiment of the invention, the problem of poor positioning effect in the existing technical scheme is solved, and the positioning effect of positioning the target object is improved.
Description
technical field [0001] The present invention relates to the field of computer vision, in particular to a method, device, equipment and storage medium for determining the pose of a target object. Background technique [0002] With the improvement of the automation level of freight yards, docks, warehouses and other places, people have gradually begun to try to use unmanned self-propelled robots and engineering vehicles for cargo transportation. [0003] For these target objects such as self-propelled robots and engineering vehicles, it is necessary to obtain the location information of the target objects in a timely manner. [0004] In the existing technical solutions, it is often based on binocular or multi-camera technical solutions. This solution requires that the target must be captured by multiple cameras at the same time, that is, different cameras must have overlapping fields of view. This is very important for the density of camera deployment. It has high requirement...
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IPC IPC(8): G06T7/70G06K9/00
CPCG06T7/70G06V20/10
Inventor 田光亚朱勇
Owner THUNDERSOFT