6D attitude estimation method, system and equipment based on object imaging and medium

• Main Authors: SHANGGUAN CAOXI, LI LEYI, LI JUN, LIAO XIAOLIAN, HUANG SHAOYAN
• Format: Patent
• Language: Chinese; English
• Published: 26.04.2024
• Subjects: CALCULATING; COMPUTING; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; GYROSCOPIC INSTRUMENTS; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention discloses a 6D attitude estimation method, system and device based on object imaging, and a medium. The method comprises the following steps: acquiring a reference image, and calculating a camera pose corresponding to the reference image and the size of an object of interest; shooting an unknown RGB image of the pose of the interested object to obtain a query image; constructing and training a specific object attitude model; inputting the reference images and the query images into a detection network, obtaining an imaging result of the object of interest, and calculating a bounding box size and a translation matrix of the object of interest; inputting each reference image and the query image into a view angle selection network to obtain a feature matrix to obtain a rotation matrix of the query image; estimating rough attitude information of the interested object in combination with the translation matrix and the rotation matrix; and using an optimization network to update the rough attitude info