Layered template matching method based on multi-dimensional pyramid

A template matching and pyramid technology, applied in character and pattern recognition, image analysis, image data processing, etc., can solve problems such as poor real-time performance and constrained application, achieve trade-offs, increase fine-grainedness, and reduce global search space Effect

Active Publication Date: 2021-05-14
SHANGHAI JIAO TONG UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

However, when the scale is unknown and the change range of the object pose is large, the number of templates...

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  • Layered template matching method based on multi-dimensional pyramid
  • Layered template matching method based on multi-dimensional pyramid
  • Layered template matching method based on multi-dimensional pyramid

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Embodiment Construction

[0045] The following describes several preferred embodiments of the present invention with reference to the accompanying drawings, so as to make the technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned herein.

[0046]In the drawings, components with the same structure are denoted by the same numerals, and components with similar structures or functions are denoted by similar numerals. The size and thickness of each component shown in the drawings are shown arbitrarily, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of parts is appropriately exaggerated in some places in the drawings.

[0047] A layered template matching method based on a multi-dimensional pyramid. In the offline generation process, the triangular on...

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Abstract

The invention discloses a layered template matching method based on a multi-dimensional pyramid. The method comprises the steps of clustering template data rendered offline according to viewpoint parameters during rendering, a pyramid structure under multiple dimensions is established, efficiency optimization in the matching process is achieved, and the method comprises the following steps of 1, in the offline generation process, obtaining a color map and a depth map; 2, constructing a multi-dimensional template pyramid; 3, in the online matching process, obtaining an input feature map; 4, obtaining a high-level matching result; 5, obtaining an approximate interval where the object is located, and taking the approximate interval as an ROI on the two-dimensional image; 6, performing a matching test on the template corresponding to the low-level pyramid; and 7, carrying out random sampling consistent detection on the matched attitude to obtain a final detection and attitude estimation result of the object. According to the method, the CAD model is used, the method is suitable for industrial application, quick query can be realized, and the balance between the matching speed and the matching precision is ensured.

Description

technical field [0001] The invention relates to the field of object detection and its six-degree-of-freedom attitude estimation method, in particular to a layered template matching method based on a multidimensional pyramid. Background technique [0002] Object Recognition and 6D Pose Estimation (Object Recognition and 6D Pose Estimation) is a key issue in machine vision technology. The goal is to provide the robot with information to operate the target object, and to solve the problem of what the object is and where it is. The 6D attitude acquired by the target here is the transformation between the object coordinate system and the visual sensor (camera) coordinate system, which is composed of 3D translation transformation and 3D rotation transformation. At present, object recognition and 6D attitude estimation are still important and challenging topics in the practical application of many robots, and they are also key technologies for industrial robots to complete intellig...

Claims

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Application Information

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IPC IPC(8): G06T7/73G06K9/46G06K9/62G06F16/51G06F16/53
CPCG06T7/73G06F16/51G06F16/53G06T2207/20016G06T2207/20104G06T2207/30244G06V10/40G06F18/23G06F18/22Y02T10/40
Inventor 熊振华柴子奇吴建华朱向阳
Owner SHANGHAI JIAO TONG UNIV
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