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Pose estimation method and device, equipment and medium

A pose estimation and feature block technology, applied in the computer field, can solve problems such as inaccurate positions, achieve accurate coordinate information, and improve accuracy

Pending Publication Date: 2020-12-15
SHENZHEN INST OF ADVANCED TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present application provides a pose estimation method, device, device, and medium, aiming to solve the problem in the related art that the position of an object obtained by a smart device using its own installed sensor is not accurate enough

Method used

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  • Pose estimation method and device, equipment and medium
  • Pose estimation method and device, equipment and medium
  • Pose estimation method and device, equipment and medium

Examples

Experimental program
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Embodiment 1

[0065] see figure 1 , the embodiment of the present application provides a pose estimation method, including:

[0066] Step 101, collecting a target image showing a target object.

[0067] Wherein, the above-mentioned target object may be various objects. As an example, the above-mentioned target object may be a beverage bottle, a stone, a person, a puppy, and the like.

[0068] In this embodiment, the execution body of the pose estimation method may be a smart device, such as a smart robot, an unmanned vehicle, and the like. The above-mentioned execution subject may collect the above-mentioned target image through the camera installed on the smart device.

[0069] Step 102, input the target image into the pre-trained control point prediction model for processing, and obtain coordinate information of multiple control points.

[0070] Among them, multiple control points are used to describe the contour of the target object. Here, the control points are points describing th...

Embodiment 2

[0153] An embodiment of the present application provides a pose estimation method. This embodiment is a further description of Embodiment 1. For the same or similar parts as Embodiment 1, please refer to the relevant description of Embodiment 1 for details, and details will not be repeated here. see Figure 5 , the pose estimation method in this embodiment includes:

[0154] Step 501, collecting a target image showing a target object.

[0155] Step 502, input the target image into the pre-trained control point prediction model for processing, and obtain coordinate information of multiple control points.

[0156] Among them, multiple control points are used to describe the outline of the target object, and the processing of the target image by the control point prediction model includes extracting multi-scale feature information from the target image, and determining the coordinate information of multiple control points based on the multi-scale feature information. The scale ...

Embodiment 3

[0168] An embodiment of the present application provides a pose estimation method. This embodiment is a further description of Embodiment 1. For the same or similar parts as Embodiment 1, please refer to the relevant description of Embodiment 1 for details, and details will not be repeated here. see Figure 6 , the pose estimation method in this embodiment includes:

[0169] Step 601, collecting a target image showing a target object.

[0170] Step 602, input the target image into the pre-trained control point prediction model for processing, and obtain coordinate information of multiple control points.

[0171] Among them, multiple control points are used to describe the outline of the target object, and the processing of the target image by the control point prediction model includes extracting multi-scale feature information from the target image, and determining the coordinate information of multiple control points based on the multi-scale feature information. The scale fe...

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Abstract

The invention is suitable for the technical field of computers, and provides a pose estimation method, which comprises the steps of collecting a target image presenting a target object; inputting thetarget image into a pre-trained control point prediction model for processing to obtain coordinate information of a plurality of control points; determining attitude parameters of the target object based on the coordinate information of the plurality of control points, with the attitude parameters being used for conversion between a first coordinate system and a second coordinate system, the firstcoordinate system being a coordinate system taking the center of the target object as an original point, and the second coordinate system being a coordinate system of a camera for collecting a targetimage; and determining the pose of the target object according to the pose parameter. The converted attitude parameters between the coordinate system of the target object and the coordinate system ofthe camera are determined through the coordinates of the plurality of control points, so that the relative position and the rotation angle of the target object under the coordinate system of the camera can be obtained, and the more accurate pose of the target object can be obtained.

Description

technical field [0001] The present application belongs to the field of computer technology, and in particular relates to a pose estimation method, device, equipment and medium. Background technique [0002] Smart devices, such as smart robots, generally need to know the positions of objects in the environment, so as to implement interactions with the objects in the environment based on the positions of the objects in the environment. In the related art, a smart device can generally use a sensor installed on itself, such as a laser sensor, to learn the position of an object in the environment. Since the sensor can usually only obtain the distance and angle of the object as a whole relative to the smart device, but cannot obtain the rotation angle of the object itself, resulting in the inability to achieve accurate interaction between the smart device and the objects in the environment. [0003] Therefore, in the related art, in order to realize the accurate interaction betwe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06K9/00G06K9/62G06N3/04G06N3/08
CPCG06T7/73G06N3/08G06T2207/20081G06T2207/20084G06V20/10G06N3/048G06N3/045G06F18/241
Inventor 张能波王磊程俊
Owner SHENZHEN INST OF ADVANCED TECH
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