Title:
OBJECT POSE ESTIMATION METHOD AND APPARATUS
Document Type and Number:
WIPO Patent Application WO/2020/168770
Kind Code:
A1
Abstract:
An object pose estimation method and apparatus. The method comprises: acquiring point cloud data of an object, wherein the point cloud data includes at least one point (101); inputting the point cloud data of the object into a pretrained point cloud neural network to obtain a predicted pose of the object to which the at least one point belongs (102); carrying out clustering processing on the predicted pose of the object to which the at least one point belongs to obtain at least one cluster set (103); and according to the predicted pose, included in the at least one cluster set, of the object, obtaining a pose of the object, wherein the pose comprises a position and an attitude angle (104). A pose of an object is obtained by processing point cloud data of the object by means of a point cloud neural network.
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Inventors:
ZHOU TAO (CN)
CHENG HUI (CN)
CHENG HUI (CN)
Application Number:
PCT/CN2019/121068
Publication Date:
August 27, 2020
Filing Date:
November 26, 2019
Export Citation:
Assignee:
SHENZHEN SENSETIME TECH CO LTD (CN)
International Classes:
G06K9/62
Foreign References:
| CN109816050A | 2019-05-28 | |||
| CN107953329A | 2018-04-24 | |||
| CN109145969A | 2019-01-04 | |||
| US20180225527A1 | 2018-08-09 | |||
| CN105809118A | 2016-07-27 |
Attorney, Agent or Firm:
CHINA PAT INTELLECTUAL PROPERTY OFFICE (CN)
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