Title:
METHOD AND APPARATUS FOR ACQUIRING IMAGE GRAVITY DIRECTION, ELECTRONIC DEVICE AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2023/015915
Kind Code:
A1
Abstract:
Embodiments of the present invention relate to the technical field of computer vision, and discloses a method and apparatus for acquiring an image gravity direction, an electronic device, and a storage medium. The method for acquiring the image gravity direction comprises: acquiring a trained desktop semantic segmentation model, wherein a training set of the desktop semantic segmentation model is a set composed of several RGB-D images marked with desktop masks, and a region where the desktop masks are located is a horizontal plane region in the RGB-D images; performing semantic segmentation of a test RGB-D image by using the desktop semantic segmentation model to obtain a test desktop mask of the test RGB-D image; and determining a test normal direction of the test desktop mask, and using the test normal direction as the gravity direction of the test RGB-D image. The gravity direction of the image may be quickly and accurately determined, so that an accurate rotation matrix from a camera coordinate system to a world coordinate system may be quickly obtained.
Inventors:
YU YUEHAN (CN)
Application Number:
PCT/CN2022/084589
Publication Date:
February 16, 2023
Filing Date:
March 31, 2022
Export Citation:
Assignee:
CLOUDMINDS ROBOTICS CO LTD (CN)
International Classes:
G06T7/66
Domestic Patent References:
| WO2020169381A1 | 2020-08-27 |
Foreign References:
| CN105488809A | 2016-04-13 | |||
| CN111915730A | 2020-11-10 | |||
| CN110349247A | 2019-10-18 | |||
| US10902625B1 | 2021-01-26 |
Attorney, Agent or Firm:
TEKYRS INTELLECTUAL PROPERTY INC. (CN)
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