Industrial part pose estimation method and system

Abstract

The invention provides an industrial part pose estimation method and system. The method comprises the following steps: acquiring part point cloud of a to-be-detected part; based on a part pose classification model, classifying the part point cloud to obtain a part classification result; determining a target part template according to the part classification result; and matching the part point cloud by using the target part template to obtain pose information of the to-be-detected part. According to the industrial part pose estimation method and system provided by the invention, the pose information of the to-be-detected part is determined according to classification and template matching of the point clouds of the to-be-detected part, so that the efficiency and accuracy of industrial part pose estimation are improved, support is provided for determination of the part pose offset position and angle in an industrial scene, and the problem of pose estimation of part grabbing through a mechanical arm and the like in an industrial scene is solved.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a method and system for estimating the pose of an industrial part. Background technique [0002] With the continuous development of computer vision and deep learning technology, it is possible to use 3D information to serve practical applications in industrial scenarios. Different from the traditional two-dimensional image representation method, the point cloud data scanned by the three-dimensional sensor provides richer feature information for three-dimensional objects in real life. The feature information based on 3D point cloud data can provide a more comprehensive and real data basis for applications in industrial scenarios such as parts picking, parts assembly, parts classification, and parts pose estimation. [0003] At present, in the traditional image method and deep learning technology, the commonly used method of using two-dimensional images to estimate the pos...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the defect of inaccurate pose estimation in the prior art, an embodiment of the present invention provides a method and system for pose estimation of industrial parts to improve the effect and accuracy of pose estimation of industrial parts

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