Attitude determination method and device

Abstract

The invention discloses an attitude determination method, a device, a computer readable storage medium and electronic equipment. The method comprises the steps of obtaining an initial pixel coordinateof a target object in an image; determining an attitude angle between the target object and an optical axis of the camera according to the initial pixel coordinates and internal parameters of the camera; obtaining corrected pixel coordinates corresponding to the target object according to the initial pixel coordinates, the attitude angle and the camera internal parameters; and determining the attitude of the target object according to the corrected pixel coordinates, a preset model and the attitude angle. According to the method, the initial pixel coordinates are corrected by utilizing the attitude angle between the target object and the optical axis of the camera, the corrected pixel coordinates are obtained, and the attitude of the target object is obtained according to the corrected pixel coordinates, so that the determined attitude of the target object is relatively high in accuracy.

Description

technical field [0001] The present disclosure relates to the technical field of image processing, and more particularly, relates to a pose determination method and device. Background technique [0002] Estimating the pose of the target object is to determine the orientation of the target object, which has a wide range of applications in the fields of robot vision and motion tracking. [0003] At present, when using images to estimate the pose of a target object, the selected region of interest is often directly input into a pre-trained model to determine the pose of the target object. However, the position of the target object with the same posture relative to the camera optical axis is different, and the imaging in the image is also different, which leads to a low pose accuracy of the target object determined directly by using the region of interest. Contents of the invention [0004] In order to solve the above technical problems, the present disclosure is proposed. Emb...

AI Technical Summary

Problems solved by technology

However, the position of the target object with the same pose relative to the optical axis of the camera is different, and the imaging in the image is also different, which leads to the low pose accuracy of the target object determined directly by using the region of interest.

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