Six-degree-of-freedom attitude estimation method and device and computer equipment

• Main Authors: HAN DAN, LI PEIXIN, ZHANG XIAOYE, CHEN YUMING, ZHU XIMENG, ZHENG PEIWEN, WANG GUAN
• Format: Patent
• Language: Chinese; English
• Published: 18.06.2024
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS

The invention discloses a six-degree-of-freedom attitude estimation method and device and computer equipment, and the method comprises the steps: obtaining an RGB image and a depth map of a target object, and carrying out the alignment operation of the RGB image and the depth map; performing attitude estimation on the RGB image according to a first attitude estimation algorithm to obtain a first attitude estimation result; the first attitude estimation algorithm is a neural network algorithm; and filtering the depth map according to a moving average method, and correcting the first attitude estimation result according to the filtered depth map to obtain an attitude estimation result of the target object. According to the method, the depth of the RGB surface points is corrected through the depth map, so that the translation vector of the attitude estimation result is corrected, and the precision of the attitude estimation algorithm is improved; and meanwhile, the real-time performance of the attitude estimatio