6D pose estimation data set manufacturing method and device, terminal and medium

Abstract

The invention discloses a 6D pose estimation data set manufacturing method and device, a terminal and a medium, and the method comprises the steps: building a three-dimensional space based on Blender through the three-dimensional model data of a target object, loading the three-dimensional model data in the three-dimensional space, obtaining a three-dimensional model, simulating the free falling process of the three-dimensional model based on a Blender integrated physical engine, and obtaining a 6D pose estimation data set. In the free falling process, sampling is carried out on sampling points in the three-dimensional model so as to determine pose parameters of the three-dimensional model based on coordinate information of the obtained sampling points, diversity of parameters such as the appearance material, the illumination condition and the object 6D pose of the target object is guaranteed, image synthesis is carried out based on the three-dimensional model, pose labeling information and a background image, and the target object is obtained. And the synthetic data samples of the target object are obtained, so that the obtained synthetic data samples are summarized into the 6D pose estimation data set of the target object, and the technical problem of low production efficiency of 6D pose estimation data set production in the prior art is solved.

Description

technical field [0001] The present application relates to the field of big data technology, and in particular to a method, device, terminal and medium for making a 6D pose estimation data set. Background technique [0002] With the widespread application of robots and augmented reality, people begin to pay attention to how to interact with objects in the environment, and 6D pose estimation is one of its key technologies, that is, to estimate the 3D position and 3D pose of an object, aiming to support the object's Fine operation. Therefore, how to make a dataset for 6D pose estimation becomes the first step of this technique. At present, the existing data set production methods have limitations such as cumbersome collection process and difficult manual labeling, which makes the production of 6D pose estimation data set have technical problems of low production efficiency. Contents of the invention [0003] The present application provides a method, device, terminal and me...

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Problems solved by technology

[0003] This application provides a method, device, terminal and medium for making a 6D pose estimation data set, which are used to solve the technical problem of low production efficiency in the production of a 6D pose estimation data set in the prior art

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