Transform-based grabbing pose detection method

The invention discloses a grabbing pose detection method based on Transform, and belongs to the technical field of robot identification, and the method comprises the steps: sending an obtained input image into an encoder for feature extraction, and outputting a feature map, the encoder comprising a...

Full description

Saved in:
Bibliographic Details
Main Authors YU QINGSONG, LIU YINZHEN, XU XIANGRONG, PU QUANCHENG, ZHANG HUI, GAO JU
Format Patent
LanguageChinese
English
Published 17.10.2023
Subjects
Online AccessGet full text

Cover

Loading…
More Information
Summary:The invention discloses a grabbing pose detection method based on Transform, and belongs to the technical field of robot identification, and the method comprises the steps: sending an obtained input image into an encoder for feature extraction, and outputting a feature map, the encoder comprising a plurality of Swin conversion modules; the first decoder performs up-sampling and feature fusion on the feature pattern; the second decoder decodes the feature map and outputs a captured quality score map, a width map and an angle map; a grabbing pose detection model based on a Transform is constructed; constructing a loss function, taking grabbing posture prediction as a regression problem, training and optimizing a grabbing posture detection model by minimizing the distance between a predicted grabbing image and a real grabbing image until the training of the grabbing posture detection model is converged, and finally obtaining a Transform-based grabbing posture detection model; and carrying out grabbing position a
Bibliography:Application Number: CN202311078801