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Real-time 6D pose estimation method and computer readable storage medium

A technology of pose estimation and camera coordinate system, applied in the field of pose estimation, it can solve problems such as difficulty in deploying methods and limit real-time performance, achieving excellent real-time performance, reducing the introduction of external interference information, and high pose estimation accuracy.

Pending Publication Date: 2022-04-15
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the lack of reasonable classification and utilization of features, such networks often require very complex feature extraction networks to ensure the speed of pose estimation, which also greatly limits their real-time performance, so such methods are difficult to be deployed in practical applications to go

Method used

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  • Real-time 6D pose estimation method and computer readable storage medium
  • Real-time 6D pose estimation method and computer readable storage medium
  • Real-time 6D pose estimation method and computer readable storage medium

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Embodiment Construction

[0042] In order to make the technical problems, technical solutions and beneficial effects to be solved by the embodiments of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0043] It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be used for both fixing function and circuit communication function.

[0044] It is to be understood that the terms "length", "width", "top", "bottom", "front"...

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Abstract

The invention provides a real-time 6D pose estimation method and a computer readable storage medium. The method comprises the steps that a preset key point is selected from a three-dimensional model of a target object, and coordinates of the preset key point in the three-dimensional model based on a three-dimensional model origin coordinate system are obtained; predicting coordinates of the preset key point of the target object in an actual scene based on a camera coordinate system through a network; and performing fitting calculation on the coordinates of the preset key point in the three-dimensional model origin coordinate system and the coordinates of the preset key point in the camera coordinate system to obtain the current pose of the target object. Therefore, the network has excellent real-time performance, and the highest pose estimation precision at the same speed is realized.

Description

technical field [0001] The present invention relates to the technical field of pose estimation, in particular to a real-time 6D pose estimation method and a computer-readable storage medium. Background technique [0002] With the rapid development of robot technology, the application of robot dexterous operation in industrial automation and people's daily life is becoming more and more extensive. The real-time 6D pose estimation of the target object is the first prerequisite for the robot to achieve dexterous operation, which directly affects the stability and consistency of the robot's operation on the object. [0003] The 6D pose of the target object represents 6 degrees of freedom of the object in Cartesian space, including 3 degrees of freedom of displacement (translation) and 3 degrees of freedom of space rotation. Pose is a relative concept used to represent the relative rigid transformation relationship between two coordinate systems. Since the relative relationship...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/70G06T7/66G06K9/62G06V10/80G06V10/764G06V10/82G06N3/04G06N3/08
CPCG06T7/70G06T7/66G06N3/08G06T2207/10028G06N3/045G06F18/2415G06F18/25G06F18/259
Inventor 梁斌刘厚德黄俊楠夏崇坤王学谦
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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