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Monocular 6D pose estimation method based on regular dodecahedron

A dodecahedron and pose estimation technology, which is applied in computing, image data processing, instruments, etc., can solve the problems of lack of versatility, achieve rapid detection, reduce the cost of pose estimation, and improve stability

Active Publication Date: 2021-04-30
HEBEI UNIV OF TECH
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Problems solved by technology

However, the accuracy of the template depends on the size of the template library, and one template is suitable for one scene, which lacks versatility

Method used

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  • Monocular 6D pose estimation method based on regular dodecahedron
  • Monocular 6D pose estimation method based on regular dodecahedron
  • Monocular 6D pose estimation method based on regular dodecahedron

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Embodiment Construction

[0030] Specific examples of the present invention are given below. The specific embodiments are only used to further describe the present invention in detail, and do not limit the protection scope of the claims of the present application.

[0031] The present invention provides a kind of monocular 6D pose estimation method (abbreviation method) based on regular dodecahedron, it is characterized in that, this method comprises the following steps:

[0032] The first step, use ArUco code to mark regular dodecahedron, obtain the regular dodecahedron of ArUco code mark (such as figure 1 shown); calibrate the monocular camera, and then observe the regular dodecahedron marked by the ArUco code through the calibrated monocular camera;

[0033] Preferably, in the first step, the process of using the ArUco code to mark the regular dodecahedron is: use the OpenCV image processing library to generate 12 ArUco codes by C++ code, and attach the 12 ArUco codes to the regular dodecahedron acco...

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Abstract

The invention discloses a monocular 6D pose estimation method based on a regular dodecahedron. According to the method, an ArUco code is combined with a regular dodecahedron, a monocular camera is used for collecting a regular dodecahedron image marked by the ArUco code, spatial three-dimensional coordinates of a center point of the ArUco code are calculated, sparse point cloud of an inscribed sphere of the ArUco code is obtained, and then multivariate nonlinear fitting and an iterative closest point algorithm are used for comparing virtual regular dodecahedrons at camera coordinates. And the spatial displacement and the rotation angle of the current regular dodecahedron are calculated, and the pose of the measured object is indirectly calculated. The invention overcomes the high requirements of an existing method for illumination, environment and equipment, detection is rapid, and stability is improved; a large amount of energy does not need to be input in the earlier stage for template collection or model training, the pose estimation cost is remarkably reduced, the pose estimation precision is guaranteed, the universality is enhanced, and pose estimation of large-amplitude movement of an object can be conducted.

Description

technical field [0001] The invention belongs to the field of image recognition pose detection, in particular to a monocular 6D pose estimation method based on a regular dodecahedron. Background technique [0002] The pose estimation of the target object is one of the key technologies to ensure the random operation of the robot in the workspace. At present, the industrial automation industry is developing rapidly, and the requirements for real-time detection and feedback of the state of the robot are also increasing, and the estimation of the target pose based on vision is of great significance to the improvement of the performance of the robot. The monocular vision system uses only one camera, has a simple structure and low cost, and is widely used. At present, the main methods of target pose estimation are: [0003] The pose is estimated using a feature point matching method. The specific method is to first extract the feature points in the image, and match the feature p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/80
CPCG06T7/73G06T7/80G06T2207/30204G06T2207/30244
Inventor 孙昊谭英伦段伦辉崔睿吴梦坤
Owner HEBEI UNIV OF TECH
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