CN110298878B - Method and device for determining three-dimensional pose of target object and electronic equipment - Google Patents
Method and device for determining three-dimensional pose of target object and electronic equipment Download PDFInfo
- Publication number
- CN110298878B CN110298878B CN201810236231.0A CN201810236231A CN110298878B CN 110298878 B CN110298878 B CN 110298878B CN 201810236231 A CN201810236231 A CN 201810236231A CN 110298878 B CN110298878 B CN 110298878B
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- target object
- visual positioning
- dimensional pose
- determining
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Images
Classifications
-
- 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
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Image Analysis (AREA)
Abstract
The embodiment of the invention provides a method and a device for determining a three-dimensional pose of a target object and electronic equipment. The method comprises the following steps: acquiring an image which is acquired by a camera and contains a visual positioning identifier; determining a conversion matrix of a visual positioning identification coordinate system and a camera coordinate system as a first conversion matrix according to the image; acquiring a three-dimensional pose of a target object in a visual positioning identification coordinate system; and determining the three-dimensional pose of the target object relative to the camera coordinate system according to the three-dimensional pose of the target object in the visual positioning identifier coordinate system and the first conversion matrix, wherein the visual positioning identifier is a flat plate with a specific pattern. Because the pattern of the visual positioning identification is specific, the coordinate point on the pattern can be accurately determined, so that the transformation matrix of the visual positioning identification coordinate system and the camera coordinate system can be determined, and further, the three-dimensional pose of the target object relative to the camera coordinate system can be accurately determined.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a method and a device for determining a three-dimensional pose of a target object and electronic equipment.
Background
With the continuous development of artificial intelligence, various intelligent devices are more and more widely applied, wherein the operation of the devices by using the mechanical arm is one of the technologies with important application prospects, for example, in the process of making coffee by using the mechanical arm, the mechanical arm can be used for pressing a button of the coffee machine to operate the coffee machine to make espresso, milk foam and other tasks.
When the mechanical arm is used for operating the equipment, the three-dimensional pose of the general equipment is fixed, so that the relative position relation between the equipment and the mechanical arm can be determined, the moving scheme of the mechanical arm can be further determined according to the relative position relation, the mechanical arm is controlled to move according to the moving scheme, and when the mechanical arm finishes moving, the mechanical arm can be controlled to operate the equipment.
Obviously, once the three-dimensional pose of the equipment is changed when the equipment is moved, the three-dimensional pose after the equipment is changed cannot be determined, and the mechanical arm cannot operate the equipment.
Disclosure of Invention
The embodiment of the invention aims to provide a method and a device for determining a three-dimensional pose of a target object and electronic equipment, so as to accurately determine the three-dimensional pose of the target object. The specific technical scheme is as follows:
in a first aspect, an embodiment of the present invention provides a method for determining a three-dimensional pose of a target object, where the method includes:
acquiring an image which is acquired by a camera and contains a visual positioning identifier, wherein the visual positioning identifier is a flat plate with a specific pattern;
determining a conversion matrix of a visual positioning identification coordinate system and a camera coordinate system as a first conversion matrix according to the image;
acquiring a three-dimensional pose of a target object in the visual positioning identification coordinate system;
and determining the three-dimensional pose of the target object relative to the camera coordinate system according to the three-dimensional pose of the target object in the visual positioning identification coordinate system and the first conversion matrix.
Optionally, the step of determining a transformation matrix between the visual positioning identifier coordinate system and the camera coordinate system according to the image includes:
and calibrating the camera according to the characteristic point information of the visual positioning identifier in the image to obtain a conversion matrix of the visual positioning identifier coordinate system and the camera coordinate system.
Optionally, the step of obtaining the three-dimensional pose of the target object in the visual positioning identification coordinate system includes:
acquiring the relative position relation between the target object and the visual positioning identifier and the geometric parameters of the target object;
and determining the three-dimensional pose of the target object in the visual positioning identification coordinate system according to the geometric parameters and the relative position relation.
Optionally, the method further includes:
determining a conversion matrix of the camera coordinate system and the mechanical arm coordinate system as a second conversion matrix according to the relative position relationship between the camera and the mechanical arm;
and determining the three-dimensional pose of the target object relative to the coordinate system of the mechanical arm according to the second transformation matrix and the three-dimensional pose of the target object relative to the coordinate system of the camera.
Optionally, the method further includes:
determining operation point information of the target object;
determining a moving scheme of the mechanical arm according to the current three-dimensional pose of the mechanical arm and the three-dimensional pose of the target object relative to the mechanical arm coordinate system;
controlling the mechanical arm to move according to the moving scheme;
and when the movement is finished, controlling the mechanical arm to operate the target object according to the operation point information.
Optionally, the visual positioning identification coordinate system coincides with the coordinate system of the target object.
In a second aspect, an embodiment of the present invention provides an apparatus for determining a three-dimensional pose of a target object, where the apparatus includes:
the image acquisition module is used for acquiring an image which is acquired by a camera and contains a visual positioning identifier, wherein the visual positioning identifier is a flat plate with a specific pattern;
the first conversion matrix determining module is used for determining a conversion matrix of the visual positioning identification coordinate system and the camera coordinate system as a first conversion matrix according to the image;
the three-dimensional pose acquisition module is used for acquiring the three-dimensional pose of the target object in the visual positioning identification coordinate system;
and the three-dimensional pose determining module is used for determining the three-dimensional pose of the target object relative to the camera coordinate system according to the three-dimensional pose of the target object in the visual positioning identification coordinate system and the first conversion matrix.
Optionally, the first conversion matrix determining module includes:
and the conversion matrix determining unit is used for calibrating the camera according to the characteristic point information of the visual positioning identifier in the image to obtain a conversion matrix of the visual positioning identifier coordinate system and the camera coordinate system.
Optionally, the three-dimensional pose acquisition module includes:
the parameter acquisition submodule is used for acquiring the relative position relation between the target object and the visual positioning identifier and the geometric parameters of the target object;
and the three-dimensional pose acquisition sub-module is used for determining the three-dimensional pose of the target object in the visual positioning identification coordinate system according to the geometric parameters and the relative position relation.
Optionally, the apparatus further comprises:
the second conversion matrix determining module is used for determining a conversion matrix of the camera coordinate system and the mechanical arm coordinate system as a second conversion matrix according to the relative position relationship between the camera and the mechanical arm;
and the mechanical arm coordinate system three-dimensional pose determining module is used for determining the three-dimensional pose of the target object relative to the mechanical arm coordinate system according to the second transformation matrix and the three-dimensional pose of the target object relative to the camera coordinate system.
Optionally, the apparatus further comprises:
the operating point information determining module is used for determining the operating point information of the target object;
a movement scheme determination module, configured to determine a movement scheme of the mechanical arm according to a current three-dimensional pose of the mechanical arm and a three-dimensional pose of the target object with respect to a coordinate system of the mechanical arm;
the control moving module is used for controlling the mechanical arm to move according to the moving scheme;
and the control operation module is used for controlling the mechanical arm to operate the target object according to the operation point information when the movement is finished.
Optionally, the visual positioning identification coordinate system coincides with the coordinate system of the target object.
In a third aspect, an embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor and the communication interface complete communication between the memory and the processor through the communication bus;
a memory for storing a computer program;
and the processor is used for realizing the steps of the method for determining the three-dimensional pose of the target object when executing the program stored in the memory.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the method for determining the three-dimensional pose of the target object as set forth in the above.
In the scheme provided by the embodiment of the invention, the electronic equipment can firstly acquire an image which is acquired by a camera and contains a visual positioning identifier, and a transformation matrix of a visual positioning identifier coordinate system and a camera coordinate system is determined according to the image; and then acquiring the three-dimensional pose of the target object in the visual positioning identification coordinate system, and determining the three-dimensional pose of the target object relative to the camera coordinate system according to the transformation matrix and the three-dimensional pose of the target object in the visual positioning identification coordinate system.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a method for determining a three-dimensional pose of a target object according to an embodiment of the present invention;
FIG. 2(a) is a schematic view of a visual alignment marker;
FIG. 2(b) is a schematic view of another visual alignment marker;
FIG. 3 is a detailed flowchart of step S103 in the embodiment shown in FIG. 1;
FIG. 4 is a schematic flow chart of a manner of determining a three-dimensional pose of a target object relative to a coordinate system of a robotic arm based on the embodiment shown in FIG. 1;
FIG. 5 is a schematic flow chart of the manner in which the target object is manipulated according to the embodiment shown in FIG. 1;
fig. 6 is a schematic structural diagram of an apparatus for determining a three-dimensional pose of a target object according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of an apparatus for operating a target object according to the embodiment shown in FIG. 6;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to accurately determine the three-dimensional pose of a target object, embodiments of the present invention provide a method, an apparatus, an electronic device, and a computer-readable storage medium for determining the three-dimensional pose of a target object.
First, a method for determining a three-dimensional pose of a target object according to an embodiment of the present invention is described below.
The method for determining the three-dimensional pose of the target object provided by the embodiment of the invention can be applied to any electronic equipment needing to determine the three-dimensional pose of the target object, such as a controller, a tablet computer, a computer and the like, and is not particularly limited and will be referred to as electronic equipment hereinafter.
As shown in fig. 1, a method for determining a three-dimensional pose of a target object, the method includes:
s101, acquiring an image which is acquired by a camera and contains a visual positioning identifier;
wherein the visual positioning mark is a flat plate with a specific pattern.
S102, determining a conversion matrix of a visual positioning identification coordinate system and a camera coordinate system as a first conversion matrix according to the image;
s103, acquiring a three-dimensional pose of the target object in the visual positioning identification coordinate system;
and S104, determining the three-dimensional pose of the target object relative to the camera coordinate system according to the three-dimensional pose of the target object in the visual positioning identification coordinate system and the first conversion matrix.
Therefore, in the scheme provided by the embodiment of the invention, the electronic equipment can firstly acquire the image which is acquired by the camera and contains the visual positioning identifier, and determine the transformation matrix of the coordinate system of the visual positioning identifier and the coordinate system of the camera according to the image; and then acquiring the three-dimensional pose of the target object in the visual positioning identification coordinate system, and determining the three-dimensional pose of the target object relative to the camera coordinate system according to the transformation matrix and the three-dimensional pose of the target object in the visual positioning identification coordinate system.
In step S101, the camera may capture an image including the visual positioning identifier, and the electronic device may acquire the image captured by the camera. The target object refers to an object whose three-dimensional pose needs to be determined, and does not have any other limiting significance. For example, the target object may be any object whose three-dimensional pose needs to be determined, such as a button, a box, or a device.
The above-mentioned visual positioning mark is a flat plate with a specific pattern, the visual positioning mark has an accurate pattern size and a frame, and the pattern included therein is generally left-right asymmetric, and the coordinates of each point thereon can be accurately determined, as shown in fig. 2, fig. 2(a) and 2(b) are schematic diagrams of two kinds of visual positioning marks. Fig. 2(a) and 2(b) are only schematic diagrams of the visual positioning marks provided by the embodiment of the invention, and do not have any limiting meaning. Any flat plate with accurately determined pattern coordinates can be used as the visual positioning mark, for example, the visual positioning mark can be designed according to the actual shape of the target object or the trademark pattern of a company, so that the attribute of the target object or the identity of the company can be reflected, and the visual positioning mark with more aesthetic feeling can be obtained.
After acquiring the image including the visual positioning identifier, the electronic device may execute the step S102, that is, determine a transformation matrix between the visual positioning identifier coordinate system and the camera coordinate system according to the image. In one embodiment, the visual positioning identifier coordinate system may be a coordinate system established based on a certain point in the visual positioning identifier. For example, a coordinate system of the visual positioning indicator may be established by using a center point of the visual positioning indicator as an origin, a right-to-left direction of the center point as an X-axis, a direction of rotating the X-axis counterclockwise by 90 degrees as a Y-axis, and an upward direction perpendicular to the visual positioning indicator as a Z-axis.
Because the visual positioning mark has a specific pattern, and the coordinate of each point on the visual positioning mark can be accurately determined, the electronic equipment can determine the transformation matrix of the visual positioning mark coordinate system and the camera coordinate system through the visual positioning mark and the coordinate transformation relation in the image. For clarity and clarity, the electronic device will be described in the following with reference to a specific embodiment of determining a transformation matrix between the coordinate system of the visual positioning identifier and the coordinate system of the camera according to the image.
In step S103, the electronic device may obtain a three-dimensional pose of the target object in the visual positioning identifier coordinate system. In one embodiment, the visual positioning marker may be placed or attached at a fixed position of the target object, and the visual positioning marker coordinate system is determined, so that the electronic device may determine the three-dimensional pose of the target object in the visual positioning marker coordinate system.
After determining the transformation matrix between the visual positioning identification coordinate system and the camera coordinate system and the three-dimensional pose of the target object in the visual positioning identification coordinate system, the electronic device may execute step S104, and determine the three-dimensional pose of the target object relative to the camera coordinate system according to the transformation matrix between the visual positioning identification coordinate system and the camera coordinate system and the three-dimensional pose of the target object in the visual positioning identification coordinate system.
The transformation from the visual positioning identity coordinate system to the camera coordinate system can be represented by a transformation matrix. If the coordinates of the target object in the visual positioning identification coordinate system are X and the coordinates of the target object in the camera coordinate system are X ', then X' is E X, where E is a transformation matrix of the visual positioning identification coordinate system and the camera coordinate system.
Based on this, in step S104, the electronic device may determine the three-dimensional pose of the target object relative to the camera coordinate system according to the transformation matrix between the visual positioning identifier coordinate system and the camera coordinate system and the three-dimensional pose of the target object in the visual positioning identifier coordinate system.
As an implementation manner of the embodiment of the present invention, the step of determining a transformation matrix between the visual positioning identifier coordinate system and the camera coordinate system according to the image may include:
and calibrating the camera according to the characteristic point information of the visual positioning identifier in the image to obtain a conversion matrix of the visual positioning identifier coordinate system and the camera coordinate system.
Because the visual positioning identifier is a flat plate with a specific pattern, and the coordinates of each point on the visual positioning identifier can be accurately determined, the electronic equipment can calculate the corresponding coordinates of the characteristic points of the visual positioning identifier in the image in a camera coordinate system according to the characteristic point information of the visual positioning identifier in the image, the internal reference matrix of the camera and the camera imaging principle. Because the visual positioning identifier coordinate system is established based on a certain point in the visual positioning identifier, the electronic device can also determine the corresponding coordinates of the feature point of the visual positioning identifier in the image in the visual positioning identifier coordinate system.
Furthermore, the electronic device may calculate a conversion relationship between the camera coordinate system and the visual positioning identifier coordinate system of the feature point coordinate of the visual positioning identifier in the image, that is, a conversion matrix between the visual positioning identifier coordinate system and the camera coordinate system, according to the corresponding coordinate of the feature point of the visual positioning identifier in the image in the camera coordinate system and the corresponding coordinate of the feature point of the visual positioning identifier in the visual positioning identifier coordinate system in the image.
Based on this, after the electronic device acquires the image which is acquired by the camera and contains the visual positioning identifier, the electronic device can calibrate the camera which acquires the image according to the characteristic point information of the visual positioning identifier in the image, and then the conversion matrix of the coordinate system of the visual positioning identifier and the coordinate system of the camera can be obtained.
Therefore, in this implementation, the electronic device can calibrate the camera according to the acquired feature point information of the visual positioning identifier in the image acquired by the camera, and further obtain a transformation matrix of the visual positioning identifier coordinate system and the camera coordinate system, that is, a first transformation matrix.
As an implementation manner of the embodiment of the present invention, as shown in fig. 3, the step of acquiring the three-dimensional pose of the target object in the visual positioning identifier coordinate system may include:
s301, acquiring the relative position relation between the target object and the visual positioning identifier and the geometric parameters of the target object;
the visual positioning mark can be placed or pasted at a certain fixed position of the target object, and then the position can be obtained through measurement and the like, and the electronic equipment can determine the relative position relation between the target object and the visual positioning mark.
For example, the visual positioning mark and the target object may be placed on an operation platform, the position of the visual positioning mark and the target object is fixed, and the relative position relationship between the target object and the visual positioning mark may be determined. For another example, the target object is a button of a device, and the visual positioning mark can be pasted at a position beside the button, so that the relative position relationship between the button and the visual positioning mark can be determined.
The electronic equipment can acquire the geometric parameters of the target object besides acquiring the relative position relation between the target object and the visual positioning identifier. Wherein the geometric parameter of the target object may be a parameter capable of representing the actual size of the target object. For example, assuming that the target object is a cylindrical button, the geometric parameters of the target object may be the radius of the top plane of the button, the height of the button, etc.; for another example, the target object is a rectangular box, and the geometric parameters of the target object may be the length, width, height, etc. of the box.
S302, determining the three-dimensional pose of the target object in the visual positioning identification coordinate system according to the geometric parameters and the relative position relation.
After determining the relative position relationship between the target object and the visual positioning identifier and the geometric parameters of the target object, the electronic device may determine the three-dimensional pose of the target object in the visual positioning identifier coordinate system according to the geometric parameters of the target object and the determined relative position relationship between the target object and the visual positioning identifier.
For example, a central point of the visual positioning mark is used as an origin, a right-to-left direction of the central point is used as an X-axis, a direction of rotating the X-axis counterclockwise by 90 degrees is used as a Y-axis, and an upward direction perpendicular to the visual positioning mark is used as a Z-axis, thereby establishing a visual positioning mark coordinate system. The target object is a square box with a 8 cm edge length, which is placed right from the origin of the visual positioning identification coordinate system, and the center of the bottom surface of the target object is located on the X axis and 5 cm away from the origin, so that the vertex coordinates of the three-dimensional frame of the target object in the visual positioning identification coordinate system can be determined as (1, -4, 0), (9, -4, 0), (1, 4, 0), (9, 4, 0), (1, -4, 8), (9, -4, 8), (1, 4, 8) and (9, 4, 8).
Because the vertex coordinates of the three-dimensional frame of the object can represent the three-dimensional position and posture of the object, the vertex coordinates of the three-dimensional frame of the target object in the visual positioning identification coordinate system can be used to identify the three-dimensional pose of the target object in the visual positioning identification coordinate system, so that the electronic device can also determine that the three-dimensional pose of the target object in the visual positioning identification coordinate system is (1, -4, 0), (9, -4, 0), (1, 4, 0), (9, 4, 0), (1, -4, 8), (9, -4, 8), (1, 4, 8), and (9, 4, 8).
Of course, it is reasonable to determine the three-dimensional pose of the target object relative to the camera coordinate system according to the three-dimensional pose of the target object in the visual positioning identification coordinate system and the first transformation matrix for convenience, and to transform the vertex coordinates of the three-dimensional frame of the target object in the visual positioning identification coordinate system into a matrix, which represents the three-dimensional pose of the target object in the visual positioning identification coordinate system.
Therefore, in the implementation, the electronic device can acquire the relative position relationship between the target object and the visual positioning identifier and the geometric parameters of the target object, and further determine the three-dimensional pose of the target object in the visual positioning identifier coordinate system according to the geometric parameters and the relative position relationship, so that the three-dimensional pose of the target object in the visual positioning identifier coordinate system can be determined quickly and accurately, and the subsequent step of determining the three-dimensional pose of the target object relative to the camera coordinate system is facilitated.
As an implementation manner of the embodiment of the present invention, as shown in fig. 4, the method for determining the three-dimensional pose of the target object may further include:
s401, determining a conversion matrix of the camera coordinate system and the mechanical arm coordinate system as a second conversion matrix according to the relative position relationship between the camera and the mechanical arm;
in many application scenarios, after the three-dimensional pose of the target object is determined, some operations are generally performed on the target object through the mechanical arm to complete some tasks. Therefore, after the three-dimensional pose of the target object with respect to the camera coordinate system is determined, it is necessary to determine the three-dimensional pose of the target object with respect to the robot arm coordinate system so that the robot arm can operate on the target object.
For example, in an application scenario where the mechanical arm is used to make coffee, the mechanical arm needs to press a button on the coffee machine, and in the scenario, the button of the coffee machine can be used as a target object.
In such a case, then, after the electronic device determines the three-dimensional pose of the target object with respect to the camera coordinate system, the three-dimensional pose of the target object with respect to the robot arm coordinate system can be determined based on the relative positional relationship of the camera and the robot arm.
It will be appreciated that the position of the robot arm is determined at the present time, and the position of the camera is also determined, so that the electronic device can determine the relative positional relationship of the camera and the robot arm. Furthermore, the electronic device can determine the mapping relationship between the camera coordinate system and the robot arm coordinate system, that is, determine the transformation matrix between the camera coordinate system and the robot arm coordinate system, according to the relative position relationship between the camera and the robot arm. Since the determination of the transformation matrix of the camera coordinate system and the robot arm coordinate system can be performed by using a determination method of the transformation matrix between any coordinate systems according to the relative position relationship between the camera and the robot arm, no specific limitation and description are made herein.
S402, determining the three-dimensional pose of the target object relative to the mechanical arm coordinate system according to the second transformation matrix and the three-dimensional pose of the target object relative to the camera coordinate system.
After the transformation matrix of the camera coordinate system and the mechanical arm coordinate system is determined, the electronic equipment can transform the three-dimensional pose of the target object relative to the camera coordinate system to obtain the three-dimensional pose of the target object relative to the mechanical arm coordinate system. The three-dimensional pose of the target object with respect to the robot arm coordinate system may also be represented by a matrix.
For example, the three-dimensional pose of the target object with respect to the camera coordinate system is represented by matrix M, and the second transformation matrix of the camera coordinate system and the robot arm coordinate system is represented by matrix N, so that the three-dimensional pose of the target object with respect to the robot arm coordinate system can be represented by matrix L ═ M × N.
Therefore, in this embodiment, the electronic device may determine a transformation matrix of the camera coordinate system and the mechanical arm coordinate system according to the relative position relationship between the camera and the mechanical arm, and further determine the three-dimensional pose of the target object relative to the mechanical arm coordinate system through coordinate transformation according to the transformation matrix and the three-dimensional pose of the target object relative to the camera coordinate system, so that the three-dimensional pose of the target object relative to the mechanical arm coordinate system may be accurately determined, and the subsequent mechanical arm may operate the target object conveniently.
As an implementation manner of the embodiment of the present invention, regarding that the electronic device determines the three-dimensional pose of the target object with respect to the coordinate system of the robot arm, as shown in fig. 5, the method for determining the three-dimensional pose of the target object may further include:
s501, determining operation point information of the target object;
after the electronic equipment determines the three-dimensional pose of the target object relative to the mechanical arm coordinate system, the operation point information of the target object can be further determined. The operation point information includes information such as a specific mode of operation that the robot arm needs to perform on the target object. The operation point information of different target objects may be different, and the specific information included in the operation point information may be determined according to the actual need, which is not specifically limited herein.
For example, the target object is a cup, and if the mechanical arm needs to perform grabbing operation on the cup, the corresponding operation point information can be grabbed; if the mechanical arm needs to pour the cup, the corresponding operating point information can be the pouring. For another example, the target object is a button, and if the mechanical arm needs to press the button, the corresponding operation point information may be a press. For another example, if the target object is food, and the robot arm needs to perform a cutting operation on the real object, the corresponding operating point information may be the cutting.
S502, determining a moving scheme of the mechanical arm according to the current three-dimensional pose of the mechanical arm and the three-dimensional pose of the target object relative to the mechanical arm coordinate system;
the position of the mechanical arm at the current moment is determined, and the mechanical arm coordinate system is established based on the mechanical arm, so that the electronic equipment can acquire the current three-dimensional pose of the mechanical arm. Furthermore, according to the current three-dimensional pose of the mechanical arm and the three-dimensional pose of the target object relative to the mechanical arm, the electronic equipment can determine a mechanical arm moving scheme, and the mechanical arm can move to the target object after moving according to the moving scheme.
S503, controlling the mechanical arm to move according to the moving scheme;
and S504, when the movement is finished, controlling the mechanical arm to operate the target object according to the operation point information.
After the movement scheme of the mechanical arm is determined, the electronic equipment can control the mechanical arm to move according to the movement scheme. After the movement is completed, the electronic device can control the mechanical arm to operate the target object according to the operation point information of the target object.
To perform operations on the target object, the end of the robotic arm may be equipped with an end tool for performing operations on the object. The end tool may be a different tool, for example, a gripper, a knife, a spoon, a pen, etc., according to the operation to be performed on the object, and is not particularly limited herein.
For example, if the target object is a button and the operation point information is a press, the end tool of the robot arm may be a gripper, and then, after the electronic device controls the robot arm to move, the button may be pressed by the gripper. For another example, if the target object is an apple and the operation point information is cutting, the end tool of the mechanical arm may be a fruit knife, and further, after the electronic device controls the mechanical arm to move, the apple may be cut by the fruit knife.
Therefore, in this embodiment, the electronic device may determine operation point information of the target object, determine a movement scheme of the mechanical arm according to the current three-dimensional pose of the mechanical arm and the three-dimensional pose of the target object relative to the coordinate system of the mechanical arm, further control the mechanical arm to move according to the movement scheme, and control the mechanical arm to operate the target object according to the operation point information when the movement is completed. The mechanical arm can perform required operation on the target object at any pose based on vision, and the accuracy and the flexibility are high.
As an implementation manner of the embodiment of the present invention, the coordinate system of the visual positioning identifier and the coordinate system of the target object may be overlapped.
The visual positioning identification coordinate system and the coordinate system of the target object coincide, that is, the coordinate origins of the two are the same, and the coordinate systems are also the same. In one embodiment, the visual locating indicia may be affixed to the target object. For example, the target object is a button, and the visual positioning identifier can be pasted on the top plane of the button; if the target object is a cup, the visual positioning mark can be pasted on the outer side of the cup body of the cup, so that the electronic equipment can determine the three-dimensional pose of the button or the cup more conveniently based on the visual positioning mark, and the operation on the button or the cup cannot be influenced.
In another embodiment, a visual locator marking may be placed on the target object. For example, the target object is a box, and the visual positioning identifier can be placed on the box, so that the electronic device can more conveniently determine the three-dimensional pose of the box based on the visual positioning identifier, and the operation on the box is not influenced.
Therefore, in the implementation, the coordinate system of the visual positioning identifier and the coordinate system of the target object can be overlapped, so that the electronic equipment can determine the three-dimensional pose of the target object more conveniently based on the visual positioning identifier, and the operation on the target object cannot be influenced.
Corresponding to the determination method of the three-dimensional pose of the target object, the embodiment of the invention provides a determination device of the three-dimensional pose of the target object.
The following describes a determination apparatus for a three-dimensional pose of a target object according to an embodiment of the present invention.
As shown in fig. 6, an apparatus for determining a three-dimensional pose of a target object, the apparatus comprising:
an image acquisition module 610, configured to acquire an image that includes a visual positioning identifier and is acquired by a camera;
wherein the visual positioning mark is a flat plate with a specific pattern.
A first transformation matrix determining module 620, configured to determine, according to the image, a transformation matrix of a visual positioning identifier coordinate system and a camera coordinate system as a first transformation matrix;
a three-dimensional pose acquisition module 630, configured to acquire a three-dimensional pose of the target object in the visual positioning identifier coordinate system;
a three-dimensional pose determination module 640, configured to determine a three-dimensional pose of the target object with respect to the camera coordinate system according to the three-dimensional pose of the target object in the visual positioning identification coordinate system and the first transformation matrix.
Therefore, in the scheme provided by the embodiment of the invention, the electronic equipment can firstly acquire the image which is acquired by the camera and contains the visual positioning identifier, and determine the transformation matrix of the coordinate system of the visual positioning identifier and the coordinate system of the camera according to the image; and then acquiring the three-dimensional pose of the target object in the visual positioning identification coordinate system, and determining the three-dimensional pose of the target object relative to the camera coordinate system according to the transformation matrix and the three-dimensional pose of the target object in the visual positioning identification coordinate system.
As an implementation manner of the embodiment of the present invention, the first conversion matrix determining module 620 may include:
a transformation matrix determining unit (not shown in fig. 6), configured to calibrate the camera according to the feature point information of the visual positioning identifier in the image, so as to obtain a transformation matrix between the visual positioning identifier coordinate system and the camera coordinate system.
As an implementation manner of the embodiment of the present invention, the three-dimensional pose acquisition module 640 may include:
a parameter obtaining sub-module (not shown in fig. 6) for obtaining a relative position relationship between the target object and the visual positioning identifier and a geometric parameter of the target object;
and a three-dimensional pose acquisition sub-module (not shown in fig. 6) for determining the three-dimensional pose of the target object in the visual positioning identification coordinate system according to the geometric parameters and the relative position relationship.
As an implementation manner of the embodiment of the present invention, the apparatus for determining a three-dimensional pose of a target object may further include:
a second conversion matrix determining module (not shown in fig. 6) for determining a conversion matrix of the camera coordinate system and the mechanical arm coordinate system as a second conversion matrix according to the relative position relationship between the camera and the mechanical arm;
a robot arm coordinate system three-dimensional pose determination module (not shown in fig. 6) for determining a three-dimensional pose of the target object with respect to the robot arm coordinate system based on the second transformation matrix and the three-dimensional pose of the target object with respect to the camera coordinate system.
As an implementation manner of the embodiment of the present invention, as shown in fig. 7, the apparatus for determining a three-dimensional pose of a target object may further include:
an operation point information determining module 710, configured to determine operation point information of the target object;
a movement scheme determination module 720, configured to determine a movement scheme of the robot arm according to the current three-dimensional pose of the robot arm and the three-dimensional pose of the target object with respect to the robot arm coordinate system;
a control movement module 730, configured to control the mechanical arm to move according to the movement scheme;
and a control operation module 740, configured to control the mechanical arm to operate the target object according to the operation point information when the movement is completed.
As an implementation manner of the embodiment of the present invention, the coordinate system of the visual positioning identifier and the coordinate system of the target object may be overlapped.
An embodiment of the present invention further provides an electronic device, as shown in fig. 8, including a processor 801, a communication interface 802, a memory 803, and a communication bus 804, where the processor 801, the communication interface 802, and the memory 803 complete mutual communication through the communication bus 804;
a memory 803 for storing a computer program;
the processor 801 is configured to implement the following steps when executing the program stored in the memory:
acquiring an image which is acquired by a camera and contains a visual positioning identifier, wherein the visual positioning identifier is a flat plate with a specific pattern;
determining a conversion matrix of a visual positioning identification coordinate system and a camera coordinate system as a first conversion matrix according to the image;
acquiring a three-dimensional pose of a target object in the visual positioning identification coordinate system;
and determining the three-dimensional pose of the target object relative to the camera coordinate system according to the three-dimensional pose of the target object in the visual positioning identification coordinate system and the first conversion matrix.
Therefore, in the scheme provided by the embodiment of the invention, the electronic equipment can firstly acquire the image which is acquired by the camera and contains the visual positioning identifier, and determine the transformation matrix of the coordinate system of the visual positioning identifier and the coordinate system of the camera according to the image; and then acquiring the three-dimensional pose of the target object in the visual positioning identification coordinate system, and determining the three-dimensional pose of the target object relative to the camera coordinate system according to the transformation matrix and the three-dimensional pose of the target object in the visual positioning identification coordinate system.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
The step of determining a transformation matrix between the visual positioning identifier coordinate system and the camera coordinate system according to the image may include:
and calibrating the camera according to the characteristic point information of the visual positioning identifier in the image to obtain a conversion matrix of the visual positioning identifier coordinate system and the camera coordinate system.
The step of obtaining the three-dimensional pose of the target object in the visual positioning identifier coordinate system may include:
acquiring the relative position relation between the target object and the visual positioning identifier and the geometric parameters of the target object;
and determining the three-dimensional pose of the target object in the visual positioning identification coordinate system according to the geometric parameters and the relative position relation.
Wherein, the method can also comprise:
determining a conversion matrix of the camera coordinate system and the mechanical arm coordinate system as a second conversion matrix according to the relative position relationship between the camera and the mechanical arm;
and determining the three-dimensional pose of the target object relative to the coordinate system of the mechanical arm according to the second transformation matrix and the three-dimensional pose of the target object relative to the coordinate system of the camera.
Wherein, the method can also comprise:
determining operation point information of the target object;
determining a moving scheme of the mechanical arm according to the current three-dimensional pose of the mechanical arm and the three-dimensional pose of the target object relative to the mechanical arm coordinate system;
controlling the mechanical arm to move according to the moving scheme;
and when the movement is finished, controlling the mechanical arm to operate the target object according to the operation point information.
The visual positioning identification coordinate system and the coordinate system of the target object can be overlapped.
An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the computer program implements the following steps:
acquiring an image which is acquired by a camera and contains a visual positioning identifier, wherein the visual positioning identifier is a flat plate with a specific pattern;
determining a conversion matrix of a visual positioning identification coordinate system and a camera coordinate system as a first conversion matrix according to the image;
acquiring a three-dimensional pose of a target object in the visual positioning identification coordinate system;
and determining the three-dimensional pose of the target object relative to the camera coordinate system according to the three-dimensional pose of the target object in the visual positioning identification coordinate system and the first conversion matrix.
In the solution provided by the embodiment of the present invention, when the computer program is executed, the image including the visual positioning identifier collected by the camera may be first obtained, and the transformation matrix between the visual positioning identifier coordinate system and the camera coordinate system is determined according to the image; and then acquiring the three-dimensional pose of the target object in the visual positioning identification coordinate system, and determining the three-dimensional pose of the target object relative to the camera coordinate system according to the transformation matrix and the three-dimensional pose of the target object in the visual positioning identification coordinate system.
The step of determining a transformation matrix between the visual positioning identifier coordinate system and the camera coordinate system according to the image may include:
and calibrating the camera according to the characteristic point information of the visual positioning identifier in the image to obtain a conversion matrix of the visual positioning identifier coordinate system and the camera coordinate system.
Wherein, the step of obtaining the three-dimensional pose of the target object in the visual positioning identification coordinate system comprises:
acquiring the relative position relation between the target object and the visual positioning identifier and the geometric parameters of the target object;
and determining the three-dimensional pose of the target object in the visual positioning identification coordinate system according to the geometric parameters and the relative position relation.
Wherein, the method can also comprise:
determining a conversion matrix of the camera coordinate system and the mechanical arm coordinate system as a second conversion matrix according to the relative position relationship between the camera and the mechanical arm;
and determining the three-dimensional pose of the target object relative to the coordinate system of the mechanical arm according to the second transformation matrix and the three-dimensional pose of the target object relative to the coordinate system of the camera.
Wherein, the method can also comprise:
determining operation point information of the target object;
determining a moving scheme of the mechanical arm according to the current three-dimensional pose of the mechanical arm and the three-dimensional pose of the target object relative to the mechanical arm coordinate system;
controlling the mechanical arm to move according to the moving scheme;
and when the movement is finished, controlling the mechanical arm to operate the target object according to the operation point information.
The visual positioning identification coordinate system and the coordinate system of the target object can be overlapped.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment, the electronic device embodiment and the computer-readable storage medium, since they are substantially similar to the method embodiment, the description is relatively simple, and the relevant points can be referred to the partial description of the method embodiment.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (14)
1. A method for determining a three-dimensional pose of a target object, the method comprising:
acquiring an image which is acquired by a camera and contains a visual positioning identifier, wherein the visual positioning identifier is a flat plate with a specific pattern;
determining a conversion matrix of a visual positioning identification coordinate system and a camera coordinate system as a first conversion matrix according to the image;
acquiring a three-dimensional pose of a target object in the visual positioning identification coordinate system;
and determining the three-dimensional pose of the target object relative to the camera coordinate system according to the three-dimensional pose of the target object in the visual positioning identification coordinate system and the first conversion matrix.
2. The method of claim 1, wherein the step of determining a transformation matrix of the visual positioning identifier coordinate system and the camera coordinate system from the image comprises:
and calibrating the camera according to the characteristic point information of the visual positioning identifier in the image to obtain a conversion matrix of the visual positioning identifier coordinate system and the camera coordinate system.
3. The method of claim 1, wherein the step of acquiring the three-dimensional pose of the target object in the visual positioning identification coordinate system comprises:
acquiring the relative position relation between the target object and the visual positioning identifier and the geometric parameters of the target object;
and determining the three-dimensional pose of the target object in the visual positioning identification coordinate system according to the geometric parameters and the relative position relation.
4. The method of claim 1, further comprising:
determining a conversion matrix of the camera coordinate system and the mechanical arm coordinate system as a second conversion matrix according to the relative position relationship between the camera and the mechanical arm;
and determining the three-dimensional pose of the target object relative to the coordinate system of the mechanical arm according to the second transformation matrix and the three-dimensional pose of the target object relative to the coordinate system of the camera.
5. The method of claim 4, further comprising:
determining operation point information of the target object;
determining a moving scheme of the mechanical arm according to the current three-dimensional pose of the mechanical arm and the three-dimensional pose of the target object relative to the mechanical arm coordinate system;
controlling the mechanical arm to move according to the moving scheme;
and when the movement is finished, controlling the mechanical arm to operate the target object according to the operation point information.
6. The method according to any of claims 1-5, wherein the visual positioning identity coordinate system and the target object coordinate system coincide.
7. An apparatus for determining a three-dimensional pose of a target object, the apparatus comprising:
the image acquisition module is used for acquiring an image which is acquired by a camera and contains a visual positioning identifier, wherein the visual positioning identifier is a flat plate with a specific pattern;
the first conversion matrix determining module is used for determining a conversion matrix of the visual positioning identification coordinate system and the camera coordinate system as a first conversion matrix according to the image;
the three-dimensional pose acquisition module is used for acquiring the three-dimensional pose of the target object in the visual positioning identification coordinate system;
and the three-dimensional pose determining module is used for determining the three-dimensional pose of the target object relative to the camera coordinate system according to the three-dimensional pose of the target object in the visual positioning identification coordinate system and the first conversion matrix.
8. The apparatus of claim 7, wherein the first transformation matrix determining module comprises:
and the conversion matrix determining unit is used for calibrating the camera according to the characteristic point information of the visual positioning identifier in the image to obtain a conversion matrix of the visual positioning identifier coordinate system and the camera coordinate system.
9. The apparatus according to claim 7, characterized in that the three-dimensional pose acquisition module includes:
the parameter acquisition submodule is used for acquiring the relative position relation between the target object and the visual positioning identifier and the geometric parameters of the target object;
and the three-dimensional pose acquisition sub-module is used for determining the three-dimensional pose of the target object in the visual positioning identification coordinate system according to the geometric parameters and the relative position relation.
10. The apparatus of claim 7, further comprising:
the second conversion matrix determining module is used for determining a conversion matrix of the camera coordinate system and the mechanical arm coordinate system as a second conversion matrix according to the relative position relationship between the camera and the mechanical arm;
and the mechanical arm coordinate system three-dimensional pose determining module is used for determining the three-dimensional pose of the target object relative to the mechanical arm coordinate system according to the second transformation matrix and the three-dimensional pose of the target object relative to the camera coordinate system.
11. The apparatus of claim 10, further comprising:
the operating point information determining module is used for determining the operating point information of the target object;
a movement scheme determination module, configured to determine a movement scheme of the mechanical arm according to a current three-dimensional pose of the mechanical arm and a three-dimensional pose of the target object with respect to a coordinate system of the mechanical arm;
the control moving module is used for controlling the mechanical arm to move according to the moving scheme;
and the control operation module is used for controlling the mechanical arm to operate the target object according to the operation point information when the movement is finished.
12. The apparatus according to any of claims 7-11, wherein the visual positioning identifier coordinate system and the coordinate system of the target object coincide.
13. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any of claims 1-6 when executing a program stored in the memory.
14. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810236231.0A CN110298878B (en) | 2018-03-21 | 2018-03-21 | Method and device for determining three-dimensional pose of target object and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810236231.0A CN110298878B (en) | 2018-03-21 | 2018-03-21 | Method and device for determining three-dimensional pose of target object and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110298878A CN110298878A (en) | 2019-10-01 |
| CN110298878B true CN110298878B (en) | 2021-03-12 |
Family
ID=68025367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810236231.0A Active CN110298878B (en) | 2018-03-21 | 2018-03-21 | Method and device for determining three-dimensional pose of target object and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110298878B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015654A (en) * | 2019-12-18 | 2020-04-17 | 深圳市优必选科技股份有限公司 | Visual positioning method and device for robot, terminal equipment and storage medium |
| CN113008135B (en) * | 2019-12-20 | 2023-09-05 | 北京移目科技有限公司 | Method, apparatus, electronic device and medium for determining a position of a target point in space |
| CN111427446B (en) * | 2020-03-04 | 2023-10-13 | 青岛小鸟看看科技有限公司 | Virtual keyboard display method and device of head-mounted display equipment and head-mounted display equipment |
| CN114078158A (en) * | 2020-08-14 | 2022-02-22 | 边辕视觉科技(上海)有限公司 | Method for automatically acquiring characteristic point parameters of target object |
| CN112013858B (en) * | 2020-10-16 | 2021-07-02 | 北京猎户星空科技有限公司 | Positioning method, positioning device, self-moving equipment and storage medium |
| CN113084795A (en) * | 2021-02-26 | 2021-07-09 | 北京空间飞行器总体设计部 | Visual measurement system and method applied to meter-taking sampling mechanical arm |
| CN113081270A (en) * | 2021-03-09 | 2021-07-09 | 北京铸正机器人有限公司 | Tail end clamping device for robotic surgery |
| CN113696190B (en) * | 2021-10-28 | 2022-03-18 | 深圳市越疆科技有限公司 | Teaching track point acquisition method, device, mechanical arm, system and medium |
| CN114266876B (en) * | 2021-11-30 | 2023-03-28 | 北京百度网讯科技有限公司 | Positioning method, visual map generation method and device |
| CN115414117B (en) * | 2022-08-31 | 2023-05-09 | 北京长木谷医疗科技有限公司 | Method and device for determining position coordinates of tail end executed by orthopedic operation robot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101576379A (en) * | 2009-05-12 | 2009-11-11 | 四川大学 | Fast calibration method of active projection three dimensional measuring system based on two-dimension multi-color target |
| CN101839692A (en) * | 2010-05-27 | 2010-09-22 | 西安交通大学 | Method for measuring three-dimensional position and stance of object with single camera |
| CN103895042A (en) * | 2014-02-28 | 2014-07-02 | 华南理工大学 | Industrial robot workpiece positioning grabbing method and system based on visual guidance |
| CN104729534A (en) * | 2015-03-12 | 2015-06-24 | 北京空间飞行器总体设计部 | Monocular visual error measurement system for cooperative target and error limit quantification method |
| CN105278454A (en) * | 2015-11-05 | 2016-01-27 | 合肥图迅电子科技有限公司 | Robot hand-eye positioning algorithm based on mechanical arm visual positioning system |
| CN105783726A (en) * | 2016-04-29 | 2016-07-20 | 无锡科技职业学院 | Curve-welding-seam three-dimensional reconstruction method based on line structure light vision detection |
| CN106023193A (en) * | 2016-05-18 | 2016-10-12 | 东南大学 | Array camera observation method for detecting structure surface in turbid media |
| CN106340044A (en) * | 2015-07-09 | 2017-01-18 | 上海振华重工电气有限公司 | Camera external parameter automatic calibration method and calibration device |
| CN107256568A (en) * | 2017-05-08 | 2017-10-17 | 西安交通大学 | A kind of high-accuracy mechanical arm trick camera calibration method and calibration system |
| CN107450376A (en) * | 2017-09-09 | 2017-12-08 | 北京工业大学 | A kind of service mechanical arm crawl attitude angle computational methods based on intelligent family moving platform |
-
2018
- 2018-03-21 CN CN201810236231.0A patent/CN110298878B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101576379A (en) * | 2009-05-12 | 2009-11-11 | 四川大学 | Fast calibration method of active projection three dimensional measuring system based on two-dimension multi-color target |
| CN101839692A (en) * | 2010-05-27 | 2010-09-22 | 西安交通大学 | Method for measuring three-dimensional position and stance of object with single camera |
| CN103895042A (en) * | 2014-02-28 | 2014-07-02 | 华南理工大学 | Industrial robot workpiece positioning grabbing method and system based on visual guidance |
| CN104729534A (en) * | 2015-03-12 | 2015-06-24 | 北京空间飞行器总体设计部 | Monocular visual error measurement system for cooperative target and error limit quantification method |
| CN106340044A (en) * | 2015-07-09 | 2017-01-18 | 上海振华重工电气有限公司 | Camera external parameter automatic calibration method and calibration device |
| CN105278454A (en) * | 2015-11-05 | 2016-01-27 | 合肥图迅电子科技有限公司 | Robot hand-eye positioning algorithm based on mechanical arm visual positioning system |
| CN105783726A (en) * | 2016-04-29 | 2016-07-20 | 无锡科技职业学院 | Curve-welding-seam three-dimensional reconstruction method based on line structure light vision detection |
| CN106023193A (en) * | 2016-05-18 | 2016-10-12 | 东南大学 | Array camera observation method for detecting structure surface in turbid media |
| CN107256568A (en) * | 2017-05-08 | 2017-10-17 | 西安交通大学 | A kind of high-accuracy mechanical arm trick camera calibration method and calibration system |
| CN107450376A (en) * | 2017-09-09 | 2017-12-08 | 北京工业大学 | A kind of service mechanical arm crawl attitude angle computational methods based on intelligent family moving platform |
Non-Patent Citations (1)
| Title |
|---|
| 复杂环境下的多工件定位研究;刘念;《计算机技术与应用》;20151231;第41卷(第12期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110298878A (en) | 2019-10-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110298878B (en) | Method and device for determining three-dimensional pose of target object and electronic equipment | |
| US11049280B2 (en) | System and method for tying together machine vision coordinate spaces in a guided assembly environment | |
| US20200061837A1 (en) | Method for industrial robot commissioning, industrial robot system and control system using the same | |
| JP6126183B2 (en) | Robot system with a camera that captures target marks | |
| DE102015101710B4 (en) | A method of calibrating a moveable gripping member using a remote digital camera | |
| CN109910000B (en) | Calibration and operation of vision-based steering systems | |
| US9199379B2 (en) | Robot system display device | |
| CN109961471B (en) | Method and device for marking position of object in image and electronic equipment | |
| US9519736B2 (en) | Data generation device for vision sensor and detection simulation system | |
| JP6703812B2 (en) | 3D object inspection device | |
| CN110293553B (en) | Method and device for controlling mechanical arm to operate object and method and device for model training | |
| JP7376268B2 (en) | 3D data generation device and robot control system | |
| US20180290300A1 (en) | Information processing apparatus, information processing method, storage medium, system, and article manufacturing method | |
| CN110749290B (en) | Three-dimensional projection-based characteristic information rapid positioning method | |
| EP3588436B1 (en) | Methods, systems, and apparatuses for computing dimensions of an object using range images | |
| JP6885856B2 (en) | Robot system and calibration method | |
| JP2016078195A (en) | Robot system, robot, control device and control method of robot | |
| CN111890356A (en) | Mechanical arm coordinate system and camera coordinate system calibration method, device, equipment and medium | |
| CN110298879B (en) | Method and device for determining pose of object to be grabbed and electronic equipment | |
| EP3322959A1 (en) | Method for measuring an artefact | |
| CN113172636B (en) | Automatic hand-eye calibration method and device and storage medium | |
| CN113601510A (en) | Robot movement control method, device, system and equipment based on binocular vision | |
| CN114918723B (en) | Workpiece positioning control system and method based on surface detection | |
| CN115057190B (en) | Target moving method, system, electronic device and computer readable storage medium | |
| Cheng | Robot manipulation of 3D cylindrical objects with a robot-mounted 2D vision camera |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |