Title:
IMAGE PROCESSING DEVICE AND IMAGE PROCESSING METHOD
Document Type and Number:
WIPO Patent Application WO/2021/085560
Kind Code:
A1
Abstract:
An image processing device (10) according to one embodiment of the present invention is provided with an acquisition unit (151) and an estimation unit (152). The acquisition unit (151) acquires a first image and a second image, which are captured images of irregularly piled workpieces (W1a, W1b). The estimation unit (152) generates a matching map for a feature quantity in the first image and a feature quantity in the second image, estimates the position, orientation, and a class type score for each target workpiece in the first image and the second image, and estimates the workpiece position on the basis of the results of matching using the matching map and the results of the position estimation.
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Inventors:
NAKANO YOSHIHIRO (JP)
Application Number:
PCT/JP2020/040701
Publication Date:
May 06, 2021
Filing Date:
October 29, 2020
Export Citation:
Assignee:
MINEBEA MITSUMI INC (JP)
International Classes:
B25J13/08; G06T7/55; G06T7/70
Foreign References:
| JP2018084571A | 2018-05-31 | |||
| JP2018010359A | 2018-01-18 | |||
| JP2019058960A | 2019-04-18 |
Other References:
XUE LI-WEI; CHEN LI-GUO; LIU JI-ZHU; WANG YANG-JUN; SHEN QI; HUANG HAI-BO: "Object recognition and pose estimation base on deep learning", 2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), IEEE, 5 December 2017 (2017-12-05), pages 1288 - 1293, XP033333070, DOI: 10.1109/ROBIO.2017.8324595
LIU GUODONG; JIANG GUOLAI; XIONG RONG; OU YONGSHENG: "Binocular Depth Estimation Using Convolutional Neural Network With Siamese Branches", 2019 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), IEEE, 6 December 2019 (2019-12-06), pages 1717 - 1722, XP033691448, DOI: 10.1109/ROBIO49542.2019.8961392
DUAN CHENYANG; XIAO NANFENG: "Parallax-Based Spatial and Channel Attention for Stereo Image Super-Resolution", IEEE ACCESS, IEEE, USA, vol. 7, 1 January 1900 (1900-01-01), USA , pages 183672 - 183679, XP011763017, DOI: 10.1109/ACCESS.2019.2960561
See also references of EP 4052870A4
LIU GUODONG; JIANG GUOLAI; XIONG RONG; OU YONGSHENG: "Binocular Depth Estimation Using Convolutional Neural Network With Siamese Branches", 2019 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), IEEE, 6 December 2019 (2019-12-06), pages 1717 - 1722, XP033691448, DOI: 10.1109/ROBIO49542.2019.8961392
DUAN CHENYANG; XIAO NANFENG: "Parallax-Based Spatial and Channel Attention for Stereo Image Super-Resolution", IEEE ACCESS, IEEE, USA, vol. 7, 1 January 1900 (1900-01-01), USA , pages 183672 - 183679, XP011763017, DOI: 10.1109/ACCESS.2019.2960561
See also references of EP 4052870A4
Attorney, Agent or Firm:
TORANOMON INTELLECTUAL PROPERTY FIRM (JP)
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