JPWO2021149251A5 - - Google Patents
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- JPWO2021149251A5 JPWO2021149251A5 JP2021572241A JP2021572241A JPWO2021149251A5 JP WO2021149251 A5 JPWO2021149251 A5 JP WO2021149251A5 JP 2021572241 A JP2021572241 A JP 2021572241A JP 2021572241 A JP2021572241 A JP 2021572241A JP WO2021149251 A5 JPWO2021149251 A5 JP WO2021149251A5
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- 238000006243 chemical reaction Methods 0.000 claims 45
- 238000011156 evaluation Methods 0.000 claims 26
- 238000004088 simulation Methods 0.000 claims 6
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- 238000000034 method Methods 0.000 claims 2
Claims (18)
画像変換パラメータを用いて、前記画像取得部が取得した前記画像であるセンサ画像に対して前記対象物体の形状、前記対象物体の表面特性、センサの計測距離、および前記センサの計測深度のうちの少なくともいずれか1つの共通の特徴を有するように画像変換して変換後画像を出力する画像変換部と、
前記変換後画像に基づいて、前記対象物体の状態を認識する認識部と、
前記認識部の認識結果に基づいて、前記変換後画像を生成するために用いられた前記画像変換パラメータを評価する評価部と、
前記認識結果および前記評価部の評価結果を出力する出力部と、
を備えることを特徴とする物体認識装置。 An image acquisition unit that acquires an image of a target object,
Of the shape of the target object, the surface characteristics of the target object, the measurement distance of the sensor, and the measurement depth of the sensor with respect to the sensor image which is the image acquired by the image acquisition unit using the image conversion parameters. An image conversion unit that converts an image so that it has at least one common feature and outputs the converted image.
A recognition unit that recognizes the state of the target object based on the converted image,
An evaluation unit that evaluates the image conversion parameters used to generate the converted image based on the recognition result of the recognition unit, and an evaluation unit.
An output unit that outputs the recognition result and the evaluation result of the evaluation unit,
An object recognition device characterized by being equipped with.
をさらに備え、
前記画像変換部は、前記第1の学習部の学習結果である前記画像変換パラメータを用いて、前記センサ画像を画像変換することを特徴とする請求項2に記載の物体認識装置。 A first learning unit that learns the image conversion parameters for each of the features,
Further prepare
The object recognition device according to claim 2, wherein the image conversion unit converts the sensor image into an image by using the image conversion parameter which is the learning result of the first learning unit.
前記第1の学習部は、画像変換の段階ごとに用いられる複数の種類の画像変換パラメータのそれぞれを学習することを特徴とする請求項3に記載の物体認識装置。 The image conversion unit performs image conversion in a plurality of stages to convert the sensor image into the converted image.
The object recognition device according to claim 3, wherein the first learning unit learns each of a plurality of types of image conversion parameters used for each stage of image conversion.
前記第1の学習部は、前記センサ画像を中間画像に変換するための第1の画像変換パラメータと、前記中間画像を前記変換後画像に変換するための第2の画像変換パラメータとを学習することを特徴とする請求項4に記載の物体認識装置。 The image conversion unit converts the sensor image into an intermediate image and converts the intermediate image into the converted image to convert the sensor image into the converted image.
The first learning unit learns a first image conversion parameter for converting the sensor image into an intermediate image and a second image conversion parameter for converting the intermediate image into the converted image. The object recognition device according to claim 4, wherein the object recognition device is characterized by the above.
画像変換パラメータを用いて、前記画像取得部が取得した前記画像であるセンサ画像を画像変換して変換後画像を出力する画像変換部と、
前記変換後画像に基づいて、前記対象物体の状態を認識する認識部と、
前記認識部の認識結果に基づいて、前記変換後画像を生成するために用いられた前記画像変換パラメータを評価する評価部と、
前記認識結果および前記評価部の評価結果を出力する出力部と、
前記特徴ごとに前記画像変換パラメータを学習する第1の学習部と、
を備え、
前記画像変換パラメータは、前記センサ画像を、予め定められた特徴を有する画像に画像変換するためのパラメータであり、
前記画像変換部は、前記第1の学習部の学習結果である前記画像変換パラメータを用いて、前記センサ画像を画像変換し、前記センサ画像を複数の成分画像に変換した後、前記複数の成分画像を合成して前記変換後画像を取得し、
前記第1の学習部は、前記センサ画像を前記複数の成分画像のそれぞれに変換するための複数の種類の画像変換パラメータを学習することを特徴とする物体認識装置。 The image acquisition unit that acquires the image of the target object,
An image conversion unit that converts a sensor image, which is the image acquired by the image acquisition unit, into an image and outputs a converted image using image conversion parameters.
A recognition unit that recognizes the state of the target object based on the converted image,
An evaluation unit that evaluates the image conversion parameters used to generate the converted image based on the recognition result of the recognition unit, and an evaluation unit.
An output unit that outputs the recognition result and the evaluation result of the evaluation unit,
A first learning unit that learns the image conversion parameters for each feature,
Equipped with
The image conversion parameter is a parameter for image-converting the sensor image into an image having predetermined characteristics.
The image conversion unit converts the sensor image into an image using the image conversion parameter which is the learning result of the first learning unit, converts the sensor image into a plurality of component images, and then the plurality of components. The images are combined to obtain the converted image, and the image is obtained.
The first learning unit is an object recognition device characterized in that it learns a plurality of types of image conversion parameters for converting the sensor image into each of the plurality of component images.
をさらに備えることを特徴とする請求項1から6のいずれか1項に記載の物体認識装置。 A conversion parameter determination unit that determines the image conversion parameter used by the image conversion unit based on the evaluation result of the evaluation unit when each of the plurality of image conversion parameters is used.
The object recognition device according to any one of claims 1 to 6, further comprising.
をさらに備え、
前記評価部は、前記入力受付部が受け付けた評価パラメータを用いて前記画像変換パラメータを評価することを特徴とする請求項1から7のいずれか1項に記載の物体認識装置。 An input receiving unit that accepts input of evaluation parameters, which are parameters used by the evaluation unit to evaluate the image conversion parameters.
Further prepare
The object recognition device according to any one of claims 1 to 7, wherein the evaluation unit evaluates the image conversion parameter using the evaluation parameter received by the input reception unit.
画像変換パラメータを用いて、前記画像取得部が取得した前記画像であるセンサ画像を画像変換して変換後画像を出力する画像変換部と、
前記変換後画像に基づいて、前記対象物体の状態を認識する認識部と、
前記認識部の認識結果に基づいて、前記変換後画像を生成するために用いられた前記画像変換パラメータを評価する評価部と、
前記認識結果および前記評価部の評価結果を出力する出力部と、
を備え、
前記認識結果は、前記認識部の認識処理時間および前記認識部が認識した前記対象物体の個数の少なくともいずれかを含むことを特徴とする物体認識装置。 An image acquisition unit that acquires an image of a target object,
An image conversion unit that converts a sensor image, which is the image acquired by the image acquisition unit, into an image and outputs a converted image using image conversion parameters.
A recognition unit that recognizes the state of the target object based on the converted image,
An evaluation unit that evaluates the image conversion parameters used to generate the converted image based on the recognition result of the recognition unit, and an evaluation unit.
An output unit that outputs the recognition result and the evaluation result of the evaluation unit,
Equipped with
The object recognition device, characterized in that the recognition result includes at least one of the recognition processing time of the recognition unit and the number of the target objects recognized by the recognition unit.
画像変換パラメータを用いて、前記画像取得部が取得した前記画像であるセンサ画像を画像変換して変換後画像を出力する画像変換部と、
前記変換後画像に基づいて、前記対象物体の状態を認識する認識部と、
前記認識部の認識結果に基づいて、前記変換後画像を生成するために用いられた前記画像変換パラメータを評価する評価部と、
前記認識結果および前記評価部の評価結果を出力する出力部と、
前記認識部の認識結果に基づいて前記対象物体を把持するロボットと、
を備え、
前記評価部は、前記ロボットの動作結果にさらに基づいて、前記画像変換パラメータを評価することを特徴とする物体認識装置。 The image acquisition unit that acquires the image of the target object,
An image conversion unit that converts a sensor image, which is the image acquired by the image acquisition unit, into an image and outputs a converted image using image conversion parameters.
A recognition unit that recognizes the state of the target object based on the converted image,
An evaluation unit that evaluates the image conversion parameters used to generate the converted image based on the recognition result of the recognition unit, and an evaluation unit.
An output unit that outputs the recognition result and the evaluation result of the evaluation unit,
A robot that grips the target object based on the recognition result of the recognition unit ,
Equipped with
The evaluation unit is an object recognition device that evaluates the image conversion parameter based on the operation result of the robot.
をさらに備え、
前記第1の学習部は、前記シミュレーション部が作成した前記目標画像を用いて前記画像変換パラメータを学習することを特徴とする請求項3に記載の物体認識装置。 A simulation unit that creates a target image, which is an image having the above-mentioned characteristics predetermined, by using a simulation.
Further prepare
The object recognition device according to claim 3, wherein the first learning unit learns the image conversion parameter using the target image created by the simulation unit.
前記シミュレーション部が生成した前記目標画像と、前記センサ画像とを含む画像変換データセットを生成する画像変換データセット生成部、
をさらに備えることを特徴とする請求項12に記載の物体認識装置。 The simulation unit has a first generation unit that generates arrangement information indicating the arrangement state of the target object based on simulation conditions, and a second generation unit that arranges the target object based on the arrangement information and generates the target image. With a generator,
An image conversion data set generation unit that generates an image conversion data set including the target image generated by the simulation unit and the sensor image.
The object recognition device according to claim 12, further comprising.
をさらに備えることを特徴とする請求項13に記載の物体認識装置。 An image conversion data set selection unit that selects an image conversion data set used by the first learning unit from the image conversion data sets created by the image conversion data set generation unit based on the sensor image.
13. The object recognition device according to claim 13, further comprising.
をさらに備えることを特徴とする請求項12から14のいずれか1項に記載の物体認識装置。 A recognition data set generation unit that generates annotation data used when the recognition unit performs recognition processing based on the recognition method used by the recognition unit, and generates a recognition data set including the target image and the annotation data.
The object recognition device according to any one of claims 12 to 14, further comprising.
をさらに備えることを特徴とする請求項15に記載の物体認識装置。 A second learning unit that learns recognition parameters, which are parameters used by the recognition unit, based on a recognition data set including annotation data used when the recognition unit performs recognition processing and the target image.
The object recognition device according to claim 15, further comprising.
をさらに備えることを特徴とする請求項16に記載の物体認識装置。 A recognition parameter determination unit that determines the recognition parameters used by the recognition unit based on the evaluation results of the evaluation unit when each of the plurality of recognition parameters is used.
The object recognition device according to claim 16, further comprising.
前記物体認識装置が、画像変換パラメータを用いて、取得した前記画像に対して前記対象物体の形状、前記対象物体の表面特性、センサの計測距離、および前記センサの計測深度のうちの少なくともいずれか1つの共通の特徴を有するように画像変換して変換後画像を出力するステップと、
前記物体認識装置が、前記変換後画像に基づいて、前記対象物体の状態を認識するステップと、
前記物体認識装置が、認識結果に基づいて、前記変換後画像を生成するために用いられた前記画像変換パラメータを評価するステップと、
前記物体認識装置が、前記認識結果および評価結果を出力するステップと、
を含むことを特徴とする物体認識方法。 The step that the object recognition device acquires the image of the target object,
The object recognition device uses at least one of the shape of the target object, the surface characteristics of the target object, the measurement distance of the sensor, and the measurement depth of the sensor with respect to the acquired image using the image conversion parameter. A step of converting an image so that it has one common feature and outputting the converted image,
A step in which the object recognition device recognizes the state of the target object based on the converted image.
A step of evaluating the image conversion parameter used by the object recognition device to generate the converted image based on the recognition result.
The step in which the object recognition device outputs the recognition result and the evaluation result, and
An object recognition method characterized by including.
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