SG11202101493XA - Object posture estimation method and apparatus - Google Patents

Object posture estimation method and apparatus

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Publication number
SG11202101493XA
SG11202101493XA SG11202101493XA SG11202101493XA SG11202101493XA SG 11202101493X A SG11202101493X A SG 11202101493XA SG 11202101493X A SG11202101493X A SG 11202101493XA SG 11202101493X A SG11202101493X A SG 11202101493XA SG 11202101493X A SG11202101493X A SG 11202101493XA
Authority
SG
Singapore
Prior art keywords
estimation method
posture estimation
object posture
posture
estimation
Prior art date
Application number
SG11202101493XA
Inventor
Tao Zhou
Hui Cheng
Original Assignee
Shenzhen Sensetime Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Sensetime Technology Co Ltd filed Critical Shenzhen Sensetime Technology Co Ltd
Publication of SG11202101493XA publication Critical patent/SG11202101493XA/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/24—Classification techniques
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/04—Architecture, e.g. interconnection topology
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • G06N3/082—Learning methods modifying the architecture, e.g. adding, deleting or silencing nodes or connections
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/66—Analysis of geometric attributes of image moments or centre of gravity
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37555—Camera detects orientation, position workpiece, points of workpiece
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40053—Pick 3-D object from pile of objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20081—Training; Learning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20084—Artificial neural networks [ANN]

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Data Mining & Analysis (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Biomedical Technology (AREA)
  • Biophysics (AREA)
  • Computational Linguistics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Molecular Biology (AREA)
  • Computing Systems (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Multimedia (AREA)
  • Geometry (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • Image Analysis (AREA)
  • Holo Graphy (AREA)
  • Indexing, Searching, Synchronizing, And The Amount Of Synchronization Travel Of Record Carriers (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
SG11202101493XA 2019-02-23 2019-11-26 Object posture estimation method and apparatus SG11202101493XA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910134640.4A CN109816050A (en) 2019-02-23 2019-02-23 Object pose estimation method and device
PCT/CN2019/121068 WO2020168770A1 (en) 2019-02-23 2019-11-26 Object pose estimation method and apparatus

Publications (1)

Publication Number Publication Date
SG11202101493XA true SG11202101493XA (en) 2021-03-30

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
SG11202101493XA SG11202101493XA (en) 2019-02-23 2019-11-26 Object posture estimation method and apparatus

Country Status (7)

Country Link
US (1) US20210166418A1 (en)
JP (1) JP2021536068A (en)
KR (1) KR20210043632A (en)
CN (1) CN109816050A (en)
SG (1) SG11202101493XA (en)
TW (1) TWI776113B (en)
WO (1) WO2020168770A1 (en)

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CN110414374B (en) * 2019-07-08 2021-12-17 深兰科技（上海）有限公司 Method, device, equipment and medium for determining obstacle position and attitude
CN110927732A (en) * 2019-10-21 2020-03-27 上海宾通智能科技有限公司 Pose recognition method, electronic device, and storage medium
CN110796671B (en) * 2019-10-31 2022-08-26 深圳市商汤科技有限公司 Data processing method and related device
CN111091597B (en) * 2019-11-18 2020-11-13 贝壳找房(北京)科技有限公司 Method, apparatus and storage medium for determining image pose transformation
US11430150B2 (en) 2020-01-03 2022-08-30 Samsung Electronics Co., Ltd. Method and apparatus for processing sparse points
CN111612842B (en) * 2020-05-29 2023-08-18 如你所视(北京)科技有限公司 Method and device for generating pose estimation model
CN112164115B (en) * 2020-09-25 2024-04-02 清华大学深圳国际研究生院 Object pose recognition method and device and computer storage medium
US11748449B2 (en) * 2020-11-25 2023-09-05 Beijing Baidu Netcom Science And Technology Co., Ltd. Data processing method, data processing apparatus, electronic device and storage medium
CN112802093B (en) * 2021-02-05 2023-09-12 梅卡曼德（北京）机器人科技有限公司 Object grabbing method and device
CN114913331A (en) * 2021-02-08 2022-08-16 阿里巴巴集团控股有限公司 Point cloud data-based target detection method and device
JP2023022517A (en) * 2021-08-03 2023-02-15 株式会社東芝 Measurement system and measurement program
CN114029941B (en) * 2021-09-22 2023-04-07 中国科学院自动化研究所 Robot grabbing method and device, electronic equipment and computer medium
CN116197886A (en) * 2021-11-28 2023-06-02 梅卡曼德（北京）机器人科技有限公司 Image data processing method, device, electronic equipment and storage medium
CN114596363B (en) * 2022-05-10 2022-07-22 北京鉴智科技有限公司 Three-dimensional point cloud marking method and device and terminal
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KR20240056222A (en) 2022-10-21 2024-04-30 송성호 Predicting Unseen Object Pose with an Adaptive Depth Estimator
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Publication number Publication date
US20210166418A1 (en) 2021-06-03
KR20210043632A (en) 2021-04-21
WO2020168770A1 (en) 2020-08-27
JP2021536068A (en) 2021-12-23
TW202032437A (en) 2020-09-01
CN109816050A (en) 2019-05-28
TWI776113B (en) 2022-09-01

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