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1 results about "Direct linear transformation" patented technology
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Direct linear transformation (DLT) is an algorithm which solves a set of variables from a set of similarity relations: 𝐱ₖ∝𝐀 𝐲ₖ for k=1,…,N where 𝐱ₖ and 𝐲ₖ are known vectors, ∝ denotes equality up to an unknown scalar multiplication, and 𝐀 is a matrix (or linear transformation) which contains the unknowns to be solved. This type of relation appears frequently in projective geometry. Practical examples include the relation between 3D points in a scene and their projection onto the image plane of a pinhole camera, and homographies.
A Bolt Pose Estimation Method Based on Monocular RGB Images
This invention discloses a bolt pose estimation method based on monocular RGB images, applicable to industrial production and intelligent manufacturing. The method involves inputting a monocular RGB image or video frame into a pre-defined feature extraction network to obtain a high-dimensional feature map of the image or video frame to be detected. This high-dimensional feature map is then input into a convolutional pose estimation network to predict the bolt's 2D keypoint confidence map and affinity map. The prediction results are used to search for the optimal match among all potential symmetrical poses of the bolt, and the network loss is calculated to update the network parameters. A heuristic algorithm is used to search within the prediction results of the confidence map and affinity map to obtain the 2D coordinates of all bolt keypoints. Finally, a direct linear transformation algorithm is used to establish the connection between the 2D and 3D keypoints of the bolt, calculating the 6D pose of the bolt.
Owner:BEIJING INST OF TECH