The invention discloses a
robot scene self-adaptive
pose estimation method based on RGB-D camera. scene two-dimensional
color image information of adjacent frames and space depth information corresponding to pixels of the two-dimensional
color image are acquired based on a RGB-D camera; when the two-dimensional
color image feature points are sufficient, ORB operators are adopted to extract features, the matching strategy provided by the invention is adopted to carry out accurate matching, and three-dimensional
pose estimation is solved based on the
pose estimation algorithm of the matching feature points; when the feature points are insufficient, the improved ICP
algorithm provided by the invention is adopted to solve the three-dimensional pose estimation; then, a complete switching criterion is designed to fuse the two pose
estimation methods; finally, pose estimation obtained through the two methods is optimized through a
light beam adjustment
algorithm, and finally smooth and accurate three-dimensional pose estimation is obtained. The three-dimensional
pose estimation algorithm has the outstanding advantages of high robustness, high precision, small calculation amount, adaptability to different scenes and the like.