Title:
METHOD AND APPARATUS FOR OBTAINING GRAVITY DIRECTION OF IMAGE, ELECTRONIC DEVICE, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2023/015914
Kind Code:
A1
Abstract:
A method and apparatus for obtaining a gravity direction of an image, an electronic device, and a storage medium. The method comprises: obtaining a trained three-dimensional desktop semantic segmentation model, wherein a training set of the three-dimensional desktop semantic segmentation model is a set consisting of a plurality of point cloud images, and the point cloud images carry three-dimensional desktop masks generated according to point clouds where horizontal planes in the point cloud images are located (101); using the three-dimensional desktop semantic segmentation model to perform semantic segmentation on a test point cloud image so as to obtain a three-dimensional test desktop mask of the test point cloud image (102); and determining a test normal direction of the three-dimensional test desktop mask to be a gravity direction of the test point cloud image (103). The gravity direction of an image can be quickly and accurately determined, and thus an accurate rotation matrix from a camera coordinate system to a world coordinate system can be quickly obtained.
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Inventors:
YU YUEHAN (CN)
Application Number:
PCT/CN2022/084586
Publication Date:
February 16, 2023
Filing Date:
March 31, 2022
Export Citation:
Assignee:
CLOUDMINDS ROBOTICS CO LTD (CN)
International Classes:
G06T7/33
Foreign References:
| CN109034065A | 2018-12-18 | |||
| CN110378246A | 2019-10-25 | |||
| CN111523547A | 2020-08-11 | |||
| CN111932688A | 2020-11-13 | |||
| CN106127727A | 2016-11-16 | |||
| US10657647B1 | 2020-05-19 | |||
| CN112529963A | 2021-03-19 |
Other References:
A N RUCHAY, K A DOROFEEV, A V KOBER: "Accurate reconstruction of the 3D indoor environment map with a RGB-D camera based on multiple ICP", IMAGE PROCESSING AND EARTH REMOTE SENSING, SAMARA NATIONAL RESEARCH UNIVERSITY, vol. 18, 1 January 2018 (2018-01-01), pages 300 - 308, XP055626529, DOI: 10.18287/1613-0073-2018-2210-300-308
方国润 (FANG, GUORUN): ""三维点云分割研究综述" ("A Review of Three-dimensional Point Cloud Segmention")", 计量与测试技术 (METROLOGY & MEASUREMENT TECHNIQUE), vol. 48, no. 7,, 1 January 2018 (2018-01-01), XP09543408, ISSN: 460-4099
方国润 (FANG, GUORUN): ""三维点云分割研究综述" ("A Review of Three-dimensional Point Cloud Segmention")", 计量与测试技术 (METROLOGY & MEASUREMENT TECHNIQUE), vol. 48, no. 7,, 1 January 2018 (2018-01-01), XP09543408, ISSN: 460-4099
Attorney, Agent or Firm:
TEKYRS INTELLECTUAL PROPERTY INC. (CN)
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