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1. WO2020135529 - POSE ESTIMATION METHOD AND APPARATUS, AND ELECTRONIC DEVICE AND STORAGE MEDIUM

Publication Number WO/2020/135529
Publication Date 02.07.2020
International Application No. PCT/CN2019/128408
International Filing Date 25.12.2019
IPC
G06T 7/73 2017.1
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
70Determining position or orientation of objects or cameras
73using feature-based methods
CPC
G06F 17/16
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
17Digital computing or data processing equipment or methods, specially adapted for specific functions
10Complex mathematical operations
16Matrix or vector computation ; , e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
G06F 17/18
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
17Digital computing or data processing equipment or methods, specially adapted for specific functions
10Complex mathematical operations
18for evaluating statistical data ; , e.g. average values, frequency distributions, probability functions, regression analysis
G06K 9/4671
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
36Image preprocessing, i.e. processing the image information without deciding about the identity of the image
46Extraction of features or characteristics of the image
4671Extracting features based on salient regional features, e.g. Scale Invariant Feature Transform [SIFT] keypoints
G06K 9/6272
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
62Methods or arrangements for recognition using electronic means
6267Classification techniques
6268relating to the classification paradigm, e.g. parametric or non-parametric approaches
627based on distances between the pattern to be recognised and training or reference patterns
6271based on distances to prototypes
6272based on distances to cluster centroïds
G06T 2207/20076
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
20Special algorithmic details
20076Probabilistic image processing
G06T 2207/20081
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
20Special algorithmic details
20081Training; Learning
Applicants
  • 浙江商汤科技开发有限公司 ZHEJIANG SENSETIME TECHNOLOGY DEVELOPMENT CO., LTD. [CN]/[CN]
Inventors
  • 周晓巍 ZHOU, Xiaowei
  • 鲍虎军 BAO, Hujun
  • 刘缘 LIU, Yuan
  • 彭思达 PENG, Sida
Agents
  • 北京林达刘知识产权代理事务所(普通合伙) LINDA LIU & PARTNERS
Priority Data
201811591706.425.12.2018CN
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) POSE ESTIMATION METHOD AND APPARATUS, AND ELECTRONIC DEVICE AND STORAGE MEDIUM
(FR) PROCÉDÉ ET APPAREIL D'ESTIMATION DE POSE, DISPOSITIF ÉLECTRONIQUE ET SUPPORT D'INFORMATIONS
(ZH) 位姿估计方法及装置、电子设备和存储介质
Abstract
(EN)
Disclosed are a pose estimation method and apparatus, and an electronic device and a storage medium. The method comprises: carrying out keypoint detection processing on a target object in an image to be processed to obtain a plurality of keypoints and a first covariance matrix corresponding to each keypoint (S11); screening out a target keypoint from the plurality of keypoints according to the first covariance matrix corresponding to each keypoint (S12); and carrying out pose estimation processing according to the target keypoint to obtain a rotation matrix and a displacement vector (S13). According to the pose estimation method, keypoints in an image to be processed and a corresponding first covariance matrix can be obtained by means of keypoint detection; the keypoints are screened by means of the first covariance matrix, such that the mutual interference between the keypoints can be removed, and the accuracy of a matching relationship is improved; moreover, by means of screening the keypoints, the keypoints which cannot represent the pose of a target object can be removed, such that an error between an estimated pose and a real pose is reduced.
(FR)
L'invention concerne un procédé et un appareil d'estimation de pose, un dispositif électronique et un support d'informations. Le procédé consiste : à effectuer un traitement de détection de point clé sur un objet cible dans une image à traiter afin d'obtenir une pluralité de points clés et une première matrice de covariance correspondant à chaque point clé (S11); à cribler un point clé cible parmi la pluralité de points clés en fonction de la première matrice de covariance correspondant à chaque point clé (S12); et à réaliser un traitement d'estimation de pose en fonction du point clé cible afin d'obtenir une matrice de rotation et un vecteur de déplacement (S13). Selon le procédé d'estimation de pose, des points clés dans une image à traiter et une première matrice de covariance correspondante peuvent être obtenus au moyen d'une détection de point clé; les points clés sont criblés au moyen de la première matrice de covariance, de telle sorte que l'interférence mutuelle entre les points clés puisse être supprimée, et que la précision d'une relation de correspondance soit améliorée; en outre, grâce au criblage des points clés, les points clés qui ne peuvent pas représenter la pose d'un objet cible peuvent être éliminés, de telle sorte qu'une erreur entre une pose estimée et une pose réelle soit réduite.
(ZH)
一种位姿估计方法及装置、电子设备和存储介质,所述方法包括:对待处理图像中的目标对象进行关键点检测处理,获得多个关键点以及各关键点对应的第一协方差矩阵(S11);根据各关键点对应的第一协方差矩阵,对多个关键点进行筛选出目标关键点(S12);根据目标关键点进行位姿估计处理,获得旋转矩阵和位移向量(S13)。根据该位姿估计方法,可通过关键点检测获得待处理图像中的关键点以及对应的第一协方差矩阵,并通过第一协方差矩阵筛选关键点,可去除关键点之间的互相干扰,提高匹配关系的准确度,并且,通过筛选关键点,可去除无法代表目标对象位姿的关键点,减小估计的位姿与真实位姿之间的误差。
Also published as
JP2021503196
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