Object pose detection tracking method and device, electronic equipment and storage medium

Abstract

The invention provides an object pose detection tracking method and device, electronic equipment and a storage medium, and the method comprises the steps of obtaining a bounding box region containing a target object based on a collected image, and obtaining a target object image according to the bounding box region; obtaining a first feature point of the target object and a feature descriptor corresponding to the first feature point from the target object image; inputting the feature descriptor into a pre-established three-dimensional model for feature point matching to obtain a second feature point matched with the three-dimensional model; according to the second feature point, performing pose solving on the target object to obtain a pose estimation result of the target object, and the pose solving mode comprises iterative solving; and performing pose tracking on the target object according to the pose estimation result. The method effectively distinguishes the same or similar objects in the same scene, avoids pose calculation errors, and is time-saving and accurate.

Description

technical field [0001] The present application belongs to the technical field of computer vision, and in particular relates to an object pose detection and tracking method, device, electronic equipment and storage medium. Background technique [0002] With the continuous development of the field of computer vision, visual inspection technology has been widely used in various fields of industry, and visual guidance and positioning technology has become the main means of obtaining the surrounding environment of the robot in the grasping technology. [0003] At present, the robot grasping method based on monocular vision generally adopts to install the camera above the working space of the robot, so that the target object and the end of the manipulator appear in the field of view of the camera at the same time, and then use the camera as a medium to establish a gap between the target object and the robot. location relationship. However, in practical applications, when there ar...

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Problems solved by technology

[0004] In view of this, the embodiment of the present application provides an object pose detection and tracking method, device, electronic equipment, and storage medium, aiming to solve the problem of the same object having the same Or similar features lead to the existence of one-to-many imagination in feature matching, which can easily lead to errors in pose calculation, and cannot accurately obtain the pose of the target object; and because there are a large number of identical or similar feature points, making the pose The number of iterations required in the iterative solution process cannot be estimated, which reduces the efficiency of the algorithm, takes up a lot of computing resources, and is difficult to achieve real-time capture. One of the technical defects

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