SG11202101493XA - Object posture estimation method and apparatus - Google Patents

Object posture estimation method and apparatus

Info

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
Other languages
English (en)
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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Classifications

    • 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
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • 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]

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Data Mining & Analysis (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Biophysics (AREA)
  • Molecular Biology (AREA)
  • Software Systems (AREA)
  • Mathematical Physics (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Computing Systems (AREA)
  • Computational Linguistics (AREA)
  • General Health & Medical Sciences (AREA)
  • Geometry (AREA)
  • Evolutionary Biology (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Bioinformatics & Computational 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 (zh) 2019-02-23 2019-02-23 物体位姿估计方法及装置
PCT/CN2019/121068 WO2020168770A1 (zh) 2019-02-23 2019-11-26 物体位姿估计方法及装置

Publications (1)

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

Family

ID=66607232

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 (zh)
JP (1) JP2021536068A (zh)
KR (1) KR20210043632A (zh)
CN (1) CN109816050A (zh)
SG (1) SG11202101493XA (zh)
TW (1) TWI776113B (zh)
WO (1) WO2020168770A1 (zh)

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CN110414374B (zh) * 2019-07-08 2021-12-17 深兰科技（上海）有限公司 一种障碍物位姿的确定方法、装置、设备及介质
CN110927732A (zh) * 2019-10-21 2020-03-27 上海宾通智能科技有限公司 位姿识别方法、电子设备和存储介质
CN110796671B (zh) * 2019-10-31 2022-08-26 深圳市商汤科技有限公司 数据处理方法及相关装置
CN111091597B (zh) * 2019-11-18 2020-11-13 贝壳找房(北京)科技有限公司 确定图像位姿变换的方法、装置及存储介质
US11430150B2 (en) 2020-01-03 2022-08-30 Samsung Electronics Co., Ltd. Method and apparatus for processing sparse points
CN111612842B (zh) * 2020-05-29 2023-08-18 如你所视(北京)科技有限公司 生成位姿估计模型的方法和装置
CN112164115B (zh) * 2020-09-25 2024-04-02 清华大学深圳国际研究生院 物体位姿识别的方法、装置及计算机存储介质
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 (zh) * 2021-02-05 2023-09-12 梅卡曼德（北京）机器人科技有限公司 对象抓取方法及装置
CN114913331B (zh) * 2021-02-08 2024-09-20 浙江菜鸟供应链管理有限公司 一种基于点云数据的目标检测方法和装置
JP2023022517A (ja) * 2021-08-03 2023-02-15 株式会社東芝 計測システム及び計測プログラム
CN114029941B (zh) * 2021-09-22 2023-04-07 中国科学院自动化研究所 一种机器人抓取方法、装置、电子设备及计算机介质
CN116197886A (zh) * 2021-11-28 2023-06-02 梅卡曼德（北京）机器人科技有限公司 图像数据处理方法、装置、电子设备和存储介质
CN114596363B (zh) * 2022-05-10 2022-07-22 北京鉴智科技有限公司 一种三维点云标注方法、装置及终端
CN114648585B (zh) * 2022-05-23 2022-08-16 中国科学院合肥物质科学研究院 一种基于激光点云与集成学习的车辆姿态估计方法
CN114937265B (zh) * 2022-07-25 2022-10-28 深圳市商汤科技有限公司 点云检测方法和模型训练方法、装置、设备及存储介质
KR20240056222A (ko) 2022-10-21 2024-04-30 송성호 적응형 깊이 추정기를 이용한 미지 물체의 자세 예측
WO2024095380A1 (ja) * 2022-11-02 2024-05-10 三菱電機株式会社 点群識別装置、学習装置、点群識別方法、および、学習方法
CN115546202B (zh) * 2022-11-23 2023-03-03 青岛中德智能技术研究院 一种用于无人叉车的托盘检测与定位方法
CN116188883B (zh) * 2023-04-28 2023-08-29 中国科学技术大学 一种抓握位置分析方法及终端

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Also Published As

Publication number Publication date
KR20210043632A (ko) 2021-04-21
WO2020168770A1 (zh) 2020-08-27
CN109816050A (zh) 2019-05-28
TWI776113B (zh) 2022-09-01
JP2021536068A (ja) 2021-12-23
US20210166418A1 (en) 2021-06-03
TW202032437A (zh) 2020-09-01

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