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Robot and pose calculation method and pose calculation device thereof

A computing method and robot technology, applied in the field of intelligent robots, can solve problems such as increasing algorithm complexity and running time, and achieve the effect of improving automation level, reducing complexity and shortening running time.

Pending Publication Date: 2021-08-27
常州龙源智能机器人科技有限公司
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  • Application Information

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Problems solved by technology

This method requires multiple images, which increases the complexity and running time of the algorithm during processing

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  • Robot and pose calculation method and pose calculation device thereof
  • Robot and pose calculation method and pose calculation device thereof
  • Robot and pose calculation method and pose calculation device thereof

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Embodiment Construction

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0032] The present invention is proposed by the inventor based on the research and cognition of the following problems:

[0033] In practical applications, the geometric edge of the CAD model of the measured object can be used to match the measured image obtained by shooting, so as to achieve the purpose of recognizing the three-dimensional object. If the pose of these objects can be reliably determined from a single image, the automation level o...

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Abstract

The invention provides a robot pose calculation method and a pose calculation device. The method comprises the following steps: acquiring a three-dimensional CAD model of an object to be recognized; sequentially sampling images from the bottom layer to the highest layer of an image pyramid corresponding to the three-dimensional CAD model in the pose range, and combining the images with the similarity exceeding a threshold value to establish a layered view; projecting each view of each layer in the layered view to generate a two-dimensional matching template; matching an image pyramid corresponding to an image shot by the virtual camera with a two-dimensional matching template to obtain a two-dimensional matching pose; and calculating the three-dimensional pose of the object according to the parameters of the virtual camera and the two-dimensional matching pose, and obtaining then the three-dimensional pose of the robot. According to the method, the CAD model of the object to be recognized is matched with the image shot by the virtual camera, so that the purpose of reliably recognizing the three-dimensional pose of the object according to a single image is achieved, and the three-dimensional pose of the object can be accurately obtained.

Description

technical field [0001] The present invention relates to the technical field of intelligent robots, in particular to a robot pose calculation method, a robot pose calculation device, a robot and a non-transitory computer-readable storage medium. Background technique [0002] Determining the pose of three-dimensional objects is used in many industrial situations, such as the grasping of industrial manipulators. In the face of the increasing application of machine vision technology in industrial and medical manipulators, a stable three-dimensional object recognition position is required. Attitude calculation method. [0003] In related technologies, generally multiple images are obtained by a camera, and after obtaining the coordinates of the object in the camera coordinate system according to the multiple images, the three-dimensional pose of the object is obtained after performing multiple coordinate transformations. This method requires multiple images, which increases the ...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06T7/70
CPCG06T7/80G06T7/70G06T2207/10028G06T2207/20016
Inventor 刘拓骆敏舟郭发勇李涛刘露
Owner 常州龙源智能机器人科技有限公司
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