Method for calculating 6D attitude parameters of transparent object
A technology for transparent objects and attitude parameters, which is applied in computing, image data processing, 3D image processing, etc., and can solve problems such as low accuracy
Active Publication Date: 2021-08-27
GUANGDONG UNIV OF TECH
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[0004] This application provides a method for calculating 6D attitude parameters of transparent objects, which is used to solve the technical problem of low accuracy in existing 6D attitude control of transparent objects
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[0036] An embodiment of the present application provides a method for calculating a 6D attitude parameter of a transparent object, which is used to solve the existing technical problem of low accuracy in 6D attitude control of a transparent object.
[0037] 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.
[0038] see figure 1 and figure 2 , the embodiment of the present application pro...
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The invention provides a method for calculating the 6D attitude parameters of a transparent object. The method for calculating the 6D attitude parameters of the transparent object comprises the following steps: extracting a low-level feature map and a high-level feature map in an original RGB image; according to the high-level feature map, combining an attention mechanism algorithm to obtain a transparent object segmentation map in the original RGB image; processing the original RGB image through a Deeplabv3 network to obtain a surface normal graph of the transparent object; extracting original depth data in the original depth image; performing mask calculation on the original depth data by using the transparent object segmentation map to obtain pre-processed depth data; and performing global optimization and reconstruction on the preprocessed depth data by combining a global optimization equation according to the surface normal graph to obtain a corrected depth image, and using the corrected depth image as input to obtain 6D attitude parameters of the transparent object, so that the obtained result has better robustness and higher accuracy.
Description
technical field [0001] The present application relates to the technical field of machine vision, in particular to a method for calculating 6D attitude parameters of transparent objects. Background technique [0002] In the field of robotics, vision technology can also be called machine vision, which, like the human eye, can provide robots with the most abundant environmental information. Among them, the 6D attitude parameter of the object is a key issue in machine vision technology. The goal is to provide the robot with information to operate the target object, and to solve the problem of what the object is and where it is. The 6D attitude obtained here is the coordinate transformation between the object coordinate system and the visual sensor (camera) coordinate system, which consists of 3-DoF translation transformation (3-DoFTranslation) and 3-DoF rotation transformation (3-DoF Rotation). [0003] Transparent objects are common objects in everyday life, but they possess u...
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Login to View More IPC IPC(8): G06T15/20G06T15/00G06N3/04
CPCG06T15/20G06T15/005G06N3/045
Inventor 程良伦吴勇王涛
Owner GUANGDONG UNIV OF TECH