Point cloud registration method, system and readable storage medium based on bayesian optimization

A point cloud registration and optimization algorithm technology, applied in the field of robotics, can solve the problems of slow robot picking efficiency and slow 3D point cloud image registration

Active Publication Date: 2019-02-15
深圳一步智造科技有限公司
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Problems solved by technology

[0005] The main purpose of the present invention is to propose a point cloud registration method, system and readable storage medium based on Bayesian optimizati

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  • Point cloud registration method, system and readable storage medium based on bayesian optimization
  • Point cloud registration method, system and readable storage medium based on bayesian optimization
  • Point cloud registration method, system and readable storage medium based on bayesian optimization

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Embodiment Construction

[0042] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0043] The solution of the embodiment of the present invention mainly includes: obtaining the contour point cloud and the template contour point cloud of the target object; constructing the initial data set; selecting the initial angle according to the Bayesian optimization algorithm; according to the initial angle, rotating the contour point cloud and Translate to obtain a new contour point cloud; perform ICP registration calculation on the new contour point cloud and the template contour point cloud to obtain the fitness; and when the fitness is less than the preset maximum fitness threshold, extract the rotation parameters of the target object and translation parameters to estimate the pose of the target object. In order to solve the technical problem that the registration speed of the existing 3D point cloud image...

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Abstract

The invention discloses a point cloud registration method based on Bayesian optimization, a system and a readable storage medium. The method comprises the following steps: obtaining a contour point cloud of a target object and a template contour point cloud; Build the initial data set; According to the Bayesian optimization algorithm, the initial angle is selected. According to the initial angle,the contour point cloud is rotated and translated to obtain a new contour point cloud. The new contour point cloud and the template contour point cloud are registered by ICP, and the fitness is obtained. And extracting a rotation parameter and a translation parameter of the target object based on the first fitness to estimate a pose of the target object. The invention utilizes the contour point cloud of the target object to carry out registration and optimization based on the Bayesian optimization algorithm, and finds out the relatively optimized initial position and posture of the target object, so that the robot adjusts the picking action according to the initial position and posture, and quickly completes the picking of the target object.

Description

technical field [0001] The present invention relates to the field of robot technology, in particular to a point cloud registration method, system and readable storage medium based on Bayesian optimization. Background technique [0002] In daily production, the use of robots to pick up scattered parts and other objects can greatly improve production efficiency, and the principle of automatic picking by robots is to obtain the point cloud to be matched of the target to be picked up. Through accurate registration of the point cloud to be matched and the template point cloud, it can Accurately estimate the pose of the target to be picked up, and then guide the robotic arm of the robot to pick up. It can be seen from this that in the process of the robot picking up the target, the accuracy of registration is very high. [0003] At present, the nearest iterative (ICP) algorithm is the most widely used registration algorithm, but the ICP algorithm has relatively high requirements ...

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Application Information

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IPC IPC(8): G06T7/33
CPCG06T7/33
Inventor 彭佳勇戴国政戴国鸿
Owner 深圳一步智造科技有限公司
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