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84 results about "Object point" patented technology
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Object points are an approach used in software development effort estimation under some models such as COCOMO II.. Object points are a way of estimating effort size, similar to Source Lines Of Code (SLOC) or Function Points.They are not necessarily related to objects in Object-oriented programming, the objects referred to include screens, reports, and modules of the language.
Object grabbing method and system based on point cloud deep learning
The invention provides an object grabbing method and system based on point cloud deep learning, and the method comprises the steps: obtaining a target object point cloud of a target object, carrying out the point cloud matching of the target object point cloud through a point cloud registration model based on a deep learning network, obtaining an initial matching position, optimizing the matching position through a nearest iteration algorithm, and obtaining an optimal matching position; obtaining an accurate transformation matrix of the target object relative to the template under a camera coordinate system; based on a pre-obtained hand-eye transformation matrix, calculating a transformation relation of the point cloud attitude of the target object relative to a tool coordinate system through teaching; the hand-eye transformation matrix is used for indicating a transformation relation between a sensor coordinate system and a mechanical arm tail end coordinate system; and according to the conversion relation and the accurate transformation matrix, the grabbing position coordinates of the target object under the mechanical arm base coordinate system are solved. According to the invention, point cloud registration is carried out through the deep learning network, and the position of the target object can be determined more accurately.
Owner:SUZHOU RUIWEISHENG TECH CO LTD
Multi-level semantic map construction method based on scene recognition and target detection
PendingCN120707757ACharacter and pattern recognitionNeural learning methodsObject pointMulti modal data
The invention provides a multi-level semantic map construction method based on multi-sensor fusion, and the method carries out the construction of an environment grid layer, and comprises the steps: constructing an environment grid map in real time through fusing perception data; scene semantic layer construction: extracting image scene semantic probability distribution by using a deep convolutional network, fusing time sequence observation through Bayesian filtering, and mapping a scene category to a grid unit by using an occupation probability model; constructing an object semantic layer, namely identifying an object by adopting a target detection network in which an information aggregation-distribution mechanism is introduced, extracting an object point cloud, and dynamically updating object semantic attributes of grid units through multi-source observation fusion; and scene atlas generation: constructing a hierarchical scene atlas which takes the marker object as a reference core and comprises a spatial topological relation. According to the method, the dynamic environment adaptability and the multi-modal data fusion precision of semantic mapping are improved, a more visual environment understanding mode is provided for the robot, and the practicability of the semantic map in robot positioning and navigation is improved.
Owner:WUHAN UNIV OF SCI & TECH
Point cloud enhancement method and system based on polarization structure perception and trend guided recovery
The invention relates to the technical field of fringe projection three-dimensional reconstruction, in particular to a point cloud enhancement method and system based on polarization structure perception and trend guided recovery. The method comprises the following steps: acquiring a multi-angle polarization image, and generating an object area mask based on a polarization angle consistency mask, a polarization angle gradient mask and a linear polarization degree mask; obtaining an original phase diagram through four-step phase shift and complementary Gray codes, obtaining a missing region in an object according to hole distribution of the original phase diagram, and adding morphological structure indexes and local variance features to recognize a real self-shadow region; aiming at the identified real self-shadow area, establishing a structure guiding recovery model combining a first-order structure gradient guiding item and a second-order structure gradient guiding item to obtain a complete object point cloud; and separating a background and an invalid shadow in the object point cloud through the object area mask to obtain a point cloud which only retains the object area.
Owner:EAST CHINA JIAOTONG UNIVERSITY
Manipulator grasping point training method and device based on diffusion model, and prediction method and device
The application provides a mechanical hand grabbing point training method and device based on a diffusion model, and a prediction method, wherein the process of the training method is as follows: sample object point clouds and marked label point clouds are acquired, and are recorded as label data; the label data, diffusion time and effective point indication are input into a diffusion model, and sample grabbing point groups are generated on the sample object point clouds; the label point clouds are taken as label samples, the sample object point clouds are taken as a current candidate region, and the sample grabbing point groups are taken as generated samples, which are input into a contrast learning model to perform label sample contrast and generated sample contrast, and optimal sample grabbing regions are screened out; and a group of grabbing points that are most similar to the label sample features in the optimal sample grabbing regions are taken as optimal sample grabbing points. The application has the beneficial effect that the grabbing success rate of the mechanical hand for objects with the same structure but different structures, the same shape but different materials and the like in a complex environment is effectively improved.
Owner:TIANJIN POLYTECHNIC UNIV
Robot grabbing control method and device, computer equipment, readable storage medium and program product
The invention relates to a robot grabbing control method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: acquiring an object image and a depth image collected for a capture area; generating three-dimensional point cloud information of the capture area based on the depth image; for each grabbed object, carrying out grabbed point prediction based on the object point cloud information and the object information of the grabbed object to obtain a plurality of grabbed points predicted for the grabbed object and respective grabbed point information of each grabbed point; for each grabbing point, carrying out information comparison on the grabbing point information of the grabbing point and other point cloud information, and taking the grabbing point of which the comparison result meets a comparison condition as a target grabbing point; and executing a grabbing operation according to the target grabbing point information of the target grabbing point. By adopting the method, the grabbing accuracy can be improved.
Owner:SHENZHEN HANS ROBOT CO LTD
A method and device for recovering a history version of a multi-version function, and a storage medium
The present application relates to a kind of multi-version function recovery historical version method, device and storage medium.Recover the version number of the target version object pointed to, according to version number and object name by key value index to find the basic information of corresponding target actual object data, modify the modification time in the basic information of target actual object data as current time, the state of current latest version in the basic information of target actual object data is modified to be;Find the object logic head with object name as key, modify the actual version object pointed to by object logic head as target version object, set the state of current latest version in the basic information of actual version object originally pointed to by object logic head as false, indicating that actual version object originally pointed to is no longer current latest version;In data pool, modify the version number of object recorded in data total head additional attribute to the version number of target version object, realize multi-version function recovery historical version.
Owner:JINAN INSPUR DATA TECH CO LTD
Code processing method and device, electronic equipment, storage medium and computer program product
The invention discloses a code processing method and device, electronic equipment, a storage medium and a computer program product. The method comprises the steps that an original code is obtained, the original code is used for declaring that one or more quantum bits are written into a pointer array, the pointer array comprises one or more pointers, and the one or more pointers are used for pointing to the one or more quantum bits; determining the type of the pointer array and the name of the one or more quantum bits by using the original code; constructing an object array by using the type of the pointer array and the name of the one or more quantum bits, the object array being used for pointing to the one or more quantum bits; and replacing the pointer array with the object array to obtain a compiled intermediate code. According to the technical scheme, in the code compiling process, the pointers of the pointer array are replaced with the specific objects pointed by the pointers, and the processing efficiency when the objects associated with the pointer array are called subsequently can be improved.
Owner:CHINA MOBILE (SUZHOU) SOFTWARE TECH CO LTD +1
Method, device and electronic equipment for measuring business risk
The application discloses a business risk measurement method, and belongs to the computer field. The method comprises the following steps: obtaining a text map picture and a satellite map picture of a target enterprise; obtaining a target text on the text map picture and a target object on the satellite map picture; matching the target text and the target object to determine whether the target text and the target object point to the same thing; if the target text and the target object point to the same thing, obtaining a first type to which the thing belongs; if the target text and the target object point to different things, obtaining a second type to which the target text belongs and a third type to which the target object belongs; and obtaining a business risk assessment result for the target enterprise according to at least one of the first type to which the thing belongs, the second type to which the target text belongs and the third type to which the target object belongs.
Owner:PEOPLE'S INSURANCE COMPANY OF CHINA
Target path change system for accessory devices
A target path changing system for an accessory device is provided, which can improve work efficiency of an operation to change a target path of a specific portion of the accessory device. An object point selection unit (15) is configured to allow an operator to select one of target points (72) as a change object point (73). A range setting unit (15) is configured to set a movable range (E) in which the change object point (73) is movable. An object point moving unit (15) allows the operator to move the change object point (73) within the movable range (E). A target path resetting unit (15) is configured to reset the target path (71a) between a change start point (74) and a change end point (75) so that the target path (71) passes through a post-change object point (73a).
Owner:KOBELCO CONSTR MASCH CO LTD
Information processing apparatus and program
To adjust the advantage of a combination of a plurality of objects selected by a player in the progress of a play according to a use state.SOLUTION: The information processing device includes a use frequency acquisition unit configured to acquire a use frequency of each object, the use frequency being determined based on the number of times an object usable in a play is selected by a player, a point setting unit configured to set a point of each object based on the use frequency, and a parameter value determination unit configured to determine at least one parameter value related to progress of a play of the player based on a point of one or more objects satisfying a predetermined condition among a plurality of objects selected by the player.SELECTED DRAWING: Figure 3
Owner:MIXI INC
A method for object point cloud reconstruction based on guided cross-modal robot
The present invention relates to a method for reconstructing object point clouds based on a guided cross-modal robot. The method comprises: obtaining a depth image and a corresponding RGB image of an object from a single perspective of the robot, performing preprocessing to obtain incomplete point cloud data for the object; encoding the point cloud classification task using a point cloud classification encoder, and decoding the result using a point cloud classification decoder to obtain the object classification result; performing position embedding encoding based on the incomplete point cloud data using a point cloud data encoder to obtain point cloud features containing position encoding; obtaining tactile data of the object in the blind spot of the robot's single perspective, encoding the data using a tactile space encoder to obtain tactile features; fusing the point cloud features and tactile features using a visual-tactile cross-modal fusion module, and using the classification results for guidance during the fusion process; and decoding the fused features using a pyramid decoder to obtain a complete point cloud for the object. Compared with existing technologies, the present invention has the advantages of higher accuracy.
Owner:TONGJI UNIV
Point cloud data processing apparatus, point cloud data processing method, and program
A point cloud data processing apparatus 11 includes a processor configured to acquire first form information that indicates a feature of a form of a first object, specify an object region of a second object that is identified from an image and that corresponds to the first form information, select second-object point cloud data, in point cloud data, that corresponds to the object region, on the basis of the object region, acquire second form information that indicates a feature of a form of the second object, on the basis of the second-object point cloud data, and compare the first form information with the second form information and perform determination as to whether the second object is the first object.
Owner:FUJIFILM CORP
Object pose recognition method and device, computer device and storage medium
The application relates to an object pose recognition method and device, computer equipment, a storage medium and a computer program product. The method is applied to an automatic guided vehicle and comprises the following steps: dividing point cloud data into multiple point group data; determining a point group difference value between a pose recognition parameter of each point group data and a historical point cloud cumulative value; selecting object point group data, in which a point group difference value meets an object contour condition, from each point group data; determining object pose reference lines in different directions according to the object point group data, and determining the pose of the object point group data relative to the automatic guided vehicle through the object pose reference lines. The object pose can be more accurately recognized by using the method.
Owner:CHINA TELECOM CORP LTD TECHNOLOGY INNOVATION CENTER +1
Multi-size object-oriented dual-hand dexterous grasping data synthesis and grasping generation method and system and robot
The application discloses a kind of dual-hand dexterous grasping data synthesis and grasping generation method, system and robot for multi-size object.Data synthesis method is: local grasping area is constructed on object surface, target area pair is determined and posture is initialized after geometric screening and mechanical stability evaluation;Decoupling optimization objective function including local force closure, contact distance and area consistency term is constructed, and left and right hand postures are decoupled and optimized;Feasible sample is screened and motion trajectory is generated by collision detection and inverse kinematics solution, and large-scale data set is constructed.Grasping generation method is: based on object point cloud cooperative prediction master-slave grasping perspective;Scale self-adaptive grasping anchor point is determined;Local features and global features are fused to construct conditional features;Generation model is used to generate dual-hand coordinated grasping posture in the form of pose increment relative to anchor point.The application significantly improves data generation efficiency and quality, and enhances the generalization ability of model to multi-size object and the executability of grasping.
Owner:SUN YAT SEN UNIV
Apparatus for generating shape data of object and method for generating shape data of object
The invention relates to an apparatus for generating shape data of an object and a method for generating shape data of an object. A computer device (1) is provided with: a first arithmetic unit (10) that outputs a numerical value obtained on the basis of coordinate values of object points indicating the positions of each part of the shape of an object; and a second calculation means (20) that, when a numerical value is input, outputs coordinate values of object points indicating the positions of the respective parts of the shape of the object and physical quantities at the respective object points such that coordinate values of learning object points indicating the shape of the learning object match the coordinate values of the object points output by the second calculation means. The second arithmetic unit learns the physical quantity output by the second arithmetic unit so as to satisfy an equation indicating the physical law that the physical quantity should satisfy, and the learned second arithmetic unit outputs the coordinate value of the object point and the physical quantity following the physical law on the basis of the input numerical value.
Owner:TOYOTA JIDOSHA KK
Method for determining a prediction model and related apparatus
Owner:TENCENT TECHNOLOGY (SHENZHEN) CO LTD
A point cloud processing method, apparatus, computing device, and storage medium
This disclosure provides a point cloud processing method, apparatus, computing device, and storage medium. The point cloud processing method includes: acquiring object states in an initial point cloud frame; extracting object point clouds from the initial point cloud frame based on the object states; calculating a shape code of the initial point cloud frame based on a shape model and the object point clouds in the initial point cloud frame, wherein the shape code is used to characterize the surface shape of the object; and calculating the object states and / or shape codes of corresponding objects in other point cloud frames of the point cloud sequence based on the shape code and object states of the initial point cloud frame. Embodiments of this disclosure combine object tracking and shape reconstruction based on a shape model, improving the accuracy of object tracking and the fidelity of shape reconstruction.
Owner:BEIJING TUSEN ZHITU TECH CO LTD
A method for processing visual tracking of a flexible linear object with partial occlusion
The present application belongs to the field of visual tracking technology, and discloses a kind of processing existing partial occlusion flexible linear object visual tracking method, based on RGB-D camera obtains color image and depth image data, from first frame image, by mask segmentation, skeletonization processing operation generates initial state point, in each subsequent frame, object point cloud is generated by mask in conjunction with depth image;Then, the density of its surrounding current point cloud is counted, and the state point is marked as "visible" or "occlusion";By establishing the analytical model based on the spatiotemporal continuity of flexible linear object, the closed form solution of the occlusion position is derived, and the iterative optimization process of the occlusion position is eliminated, thereby reducing the computational complexity and achieving efficient real-time tracking;Meanwhile, using the inherent spatiotemporal geometric evolution law of flexible linear object, a position estimation model that can be directly analytically solved is constructed, avoiding the stability risk brought by iterative optimization, and significantly improving the reliability and tracking stability of the occlusion position estimation.
Owner:HUAZHONG UNIV OF SCI & TECH +1
Automatic Optimization Method and Device for 3D Box Labels in 4D Dynamic Object Interactive Annotation
ActiveCN120580696BScene recognitionThree-dimensional object recognitionComputer graphics (images)Object point
This application discloses an automatic optimization method and apparatus for 3D bounding box labels in 4D dynamic object interactive annotation, comprising: acquiring all key 3D bounding boxes and their corresponding dynamic object point sets, and all interpolated 3D bounding boxes and their corresponding dynamic object point sets in a dynamic object sequence under a global coordinate system; calculating the principal directions of the two dynamic object point sets and calculating their differences, adjusting the direction of the interpolated 3D bounding boxes according to the differences to obtain the interpolated 3D bounding boxes with optimized directions; calculating the density distribution characteristics and geometric distance distribution characteristics of the interpolated 3D bounding boxes and key 3D bounding boxes and their corresponding dynamic object point sets, and constructing a composite loss function; iteratively optimizing the center point position of the interpolated 3D bounding boxes with optimized directions, fusing the composite loss function in each iteration to obtain the optimal center point position of the interpolated 3D bounding boxes, and then updating the center point position. Compared with previous solutions, this invention significantly improves the accuracy of interpolated 3D bounding boxes and further reduces manual workload.
Owner:MOLAR INTELLIGENCE INFORMATION TECHNOLOGY (HANGZHOU) CO LTD
A method for predicting 3D human-object interaction elements based on first-person video
ActiveCN119625588BBiometric pattern recognitionThree-dimensional object recognitionHead movementsFirst person
This invention discloses a method for predicting three-dimensional human-object interaction elements based on first-person perspective videos. The method comprises the following steps: 1. extracting first-person video features, object point cloud features, and head motion features; 2. calculating interaction concept features from the object point cloud; 3. calculating subject interaction intention features; 4. decoding object affordances, human contact features, and interaction semantics; and 5. constructing and training a loss supervision function. This method comprehensively considers the correlation between subject interaction intention and object interaction concepts in first-person interactions, thereby accurately predicting three-dimensional human-object interaction elements from a first-person perspective.
Owner:UNIV OF SCI & TECH OF CHINA
Method, device, equipment and storage medium for rapid printing of exhibit tactile models
ActiveCN119427750BAdditive manufacturing apparatusManufacturing data aquisition/processingAlgorithmObject point
This application relates to the field of data processing and discloses a method, device, equipment, and storage medium for quickly printing tactile models of exhibits. By using 3D structured light to scan the object to be printed, the object point cloud information is aligned based on a feature matching point cloud alignment algorithm; a Gaussian filter algorithm is used to remove redundant details in the complete object model data; the geometric features of the filtered object model data are enhanced based on a Canny edge detection algorithm combined with an adaptive threshold adjustment method, and the intensity value of the edge pixel is adjusted according to the importance of the edge and the required degree of sharpness; the topological relationship of the internal structure of the model is adjusted according to the structural strength requirements to generate a support structure, and the object is printed layer by layer based on the sharpened object model data and the object model structure data. This effectively solves the problem of inaccurate and incomplete scanning data, improves the geometric accuracy and integrity of the model, and makes the final printed object model closer to the real object.
Owner:JIHUA LAB
System for localizing three-dimensional objects
Disclosed herein are system, method, and computer program product embodiments for localizing three-dimensional objects relative to a vehicle. The system includes: at least one sensor for generating two-dimensional (2D) data and a three-dimensional (3D) point cloud of an environment external to a vehicle. The 3D point cloud includes object points associated with a stationary traffic control object. The localization system also includes a memory and at least one processor coupled to the memory. The processor is programmed to: select a bounding box associated with the object from the memory based on the 2D data; arrange the bounding box proximate to the object points in the 3D point cloud; assign a weight to each point of the 3D point cloud based on a position of the point relative to the bounding box; filter the weighted points; and generate a 3D location of the object based on the filtered points.
Owner:FORD GLOBAL TECH LLC
Visual tracking method for processing flexible linear object with partial shielding
The invention belongs to the technical field of visual tracking, and discloses a visual tracking method for processing a partially-shielded flexible linear object, which comprises the following steps of: acquiring color image and depth image data based on an RGB-D camera, generating an initial state point from a first frame of image through mask segmentation and skeletonization processing operation, and in each subsequent frame, generating an initial state point from a second frame of image through mask segmentation and skeletonization processing operation; generating an object point cloud by combining the mask with the depth image; then, counting the density of current point clouds around the state point, and marking the state point as visible or shielded; an analytical model based on space-time continuity of a flexible linear object is established, a closed form solution of a shielding position is deduced, and an iterative optimization process of a shielding state point position is eliminated, so that the calculation complexity is reduced, and efficient real-time tracking is realized; and meanwhile, the inherent space-time geometric evolution law of the flexible linear object is utilized to construct a position estimation model which can be directly analyzed and solved, so that the stability risk caused by iterative optimization is avoided, and the reliability and tracking stability of shielding position estimation are remarkably improved.
Owner:HUAZHONG UNIV OF SCI & TECH +1
Calibration method, calibration object, device, readable storage medium and program product
In some cases, a calibration method, calibration object, device, readable storage medium, and program product are provided. The method includes: acquiring first image data, which is obtained by a camera capturing an object in three-dimensional space; the object includes multiple object points, and the first image data includes first coordinates of the multiple object points in a first coordinate system; reprojecting second coordinates of the object points onto the first coordinate system based on a distorted camera model to obtain third coordinates; wherein, during the process of reprojecting the second coordinates onto the first coordinate system, the second coordinates are mapped onto a preset plane to obtain fourth coordinates, and the fourth coordinates are distorted using a first distortion parameter; the first distortion parameter is obtained by interpolation of second distortion parameters of multiple control points, the multiple control points being located in different regions of the preset plane, and the second coordinates being the coordinates of the object points in the second coordinate system; and determining camera parameters based on the third coordinates and the first coordinates, the parameters including the second distortion parameter.
Owner:QINGDAO PICO TECH CO LTD
Movement control of an object
For an improved control and planning with respect to the movement of an object (2) relative to a transport unit (1) of a transport system (10), wherein the transport unit (1) moves along a predefined transport trajectory (T1) with reference to a reference coordinate system, according to the present application a synchronization phase (P2) is provided, wherein during the synchronization phase (P2) a movement of a object point (TCP) of the object (2) along an object path (z TF ) is predefined with reference to a transport unit coordinate system (TF) which is different from the reference coordinate system, wherein the transport unit coordinate system (TF) moves with the transport unit (1) along the transport trajectory (T1). At least one path point of the object path (z TF ) is converted from the transport unit coordinate system (TF) to a base coordinate system (BCS) for controlling the movement of the object point (TCP) along the object path (z TF ) with reference to the base coordinate system (BCS).
Owner:ABB (SCHWEIZ) AG
Motion posture determination method and device, electronic equipment and storage medium
The invention provides a motion posture determination method and device, electronic equipment and a storage medium, and relates to the technical field of artificial intelligence, in particular to the technical field of computer vision. Dividing the first to-be-processed point cloud to obtain a first object point cloud set for representing a target object and a field point cloud set for representing a sports field; in response to the fact that the distance between the point with the minimum target dimension value in the first object point cloud set and the target plane is smaller than a first preset threshold value, the collection moment of the first to-be-processed point cloud is determined as the motion starting moment of the target object; according to the angle of the fitting line segment of the first object point cloud set relative to the target plane, determining the motion posture of the target object at the motion starting moment; the fitting line segment is obtained by performing linear fitting on the first object point cloud set.
Owner:BEIJING BAIDU NETCOM SCI & TECH CO LTD
Image processing method and device, computer device and storage medium
The application relates to an image processing method and device and a computer device. The method comprises the following steps: obtaining a historical object image set and a current object image set corresponding to a target object; performing object point matching based on the historical object image set and the current object image set to obtain historical object matching points and current object matching points; when the historical object matching points and the current feature matching points are the same object points, performing spatial pose transformation parameter calculation on the historical object matching points to obtain historical spatial pose transformation parameters, and performing three-dimensional space matching point calculation to obtain historical feature point three-dimensional coordinates; performing spatial pose transformation parameter calculation on the current feature matching points to obtain current spatial pose transformation parameters, and performing three-dimensional space matching point calculation to obtain current feature point three-dimensional coordinates; and calculating a difference value corresponding to the historical feature point three-dimensional coordinates and the current feature point three-dimensional coordinates to obtain three-dimensional offset information corresponding to the target object. The method can improve the accuracy of deformation monitoring.
Owner:SHENZHEN POWER SUPPLY BUREAU
A grasp pose estimation method and related devices
The embodiment of the application discloses a kind of grasping pose estimation method and related equipment, it is characterized in that, the method includes: based on the M sample points in the object point cloud of target object, determine the M sample point clouds of the object point cloud, each sample point cloud in the M sample point clouds is the point cloud of the object point cloud in corresponding target space, the corresponding target space is the spherical space with the M sample points in corresponding sample point as ball center and with preset length as radius;Wherein, the number of points included in each sample point cloud is greater than preset value;Based on the M sample point clouds and grasping end model parameter, M grasping poses are calculated, and the grasping end model parameter includes the width and depth of grasping end model;Select one grasping pose from the M grasping poses as the target grasping pose for grasping the target object.Using the embodiment of the application can improve the robot grasping efficiency, accuracy in complex scene.
Owner:HUAWEI CLOUD COMPUTING TECHNOLOGIES CO LTD
Feature processing method
The embodiment of the specification provides a feature processing method, wherein the feature processing method comprises: acquiring an initial feature sequence, and selecting a feature to be masked in the initial feature sequence; performing mask processing on the feature to be masked, generating an intermediate feature sequence according to a mask processing result, and predicting a predicted feature corresponding to the feature to be masked according to the intermediate feature sequence; calculating a predicted feature score corresponding to the predicted feature, and updating the initial feature sequence into a target feature sequence according to the predicted feature score and feature scores respectively corresponding to features in the intermediate feature sequence; and inputting the target feature sequence into an object click prediction model for processing to obtain object click prediction information.
Owner:HANGZHOU ALIBABA INT INTERNET IND CO LTD
Object grasping method and system based on point cloud deep learning
The application provides an object grasping method and system based on point cloud deep learning, which comprises the following steps: obtaining a target object point cloud of a target object, performing point cloud matching on the target object point cloud by using a point cloud registration model based on a deep learning network to obtain an initial matching position, and then optimizing the matching position by using a nearest iteration algorithm to obtain an accurate transformation matrix of the target object relative to a template in a camera coordinate system; based on a pre-obtained hand-eye transformation matrix, calculating a conversion relationship of a point cloud posture of the target object relative to a tool coordinate system through teaching; the hand-eye transformation matrix is used to indicate a transformation relationship between a sensor coordinate system and an end coordinate system of a robot arm; and according to the conversion relationship and the accurate transformation matrix, a grasping position coordinate of the target object in a robot arm base coordinate system is calculated. The application can more accurately determine the position of the target object by using the deep learning network to perform point cloud registration.
Owner:SUZHOU RUIWEISHENG TECH CO LTD