摘要
从单帧RGB图像中获取目标物体的6D位姿信息在机器人抓取、虚拟现实、自动驾驶等领域应用广泛.本文针对低纹理物体位姿估计精度不足的问题,提出一种基于伪孪生神经网络的位姿估计方法 .首先,通过渲染CAD模型的方式,获取不同观察角度下的RGB图作为训练样本,解决了深度学习中数据集获取与标注较为繁琐的问题.其次,利用伪孪生神经网络结构学习二维图像特征和物体的三维网格模型特征之间的相似性,即分别采用全卷积网络和三维点云语义分割网络构成伪孪生神经网络,提取二维图像和三维模型的高维深层特征,使用网络推断密集的二维-三维对应关系.最后,通过PnP-RANSAC方法恢复物体的位姿.仿真数据集的实验结果表明,本文提出的方法具有较高的准确性和鲁棒性.
Obtaining the 6D pose information of the target object from a single frame RGB image is widely used in the fields of robot capture, virtual reality, automatic driving, and so on. Aiming at the problem of insufficient accuracy of pose estimation of low texture objects, a pose estimation method based on pseudo-siamese neural network is proposed in this paper. Firstly, RGB images from different viewing angles are obtained as training samples by rendering CAD models,which solves the cumbersome problem of data set acquisition and annotation in deep learning. Secondly, the pseudo-siamese neural network structure is used to learn the similarity between the two-dimensional image features and the three-dimensional mesh model features of the object, that is, the full convolution network and the three-dimensional point cloud semantic segmentation network are used to form the pseudo-siamese neural network, extract the high-dimensional deep features of the two-dimensional image and the three-dimensional model, and use the network to infer the dense two-dimensional three-dimensional correspondence. Finally, the pose of the object is restored by PNP-RANSAC method. The experimental results of simulation data sets show that the proposed method has high accuracy and robustness.
作者
王神龙
雍宇
吴晨睿
WANG Shen-long;YONG Yu;WU Chen-rui(College of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《电子学报》
EI
CAS
CSCD
北大核心
2023年第1期192-201,共10页
Acta Electronica Sinica
基金
国家自然科学基金青年项目(No.52105525)
国家自然科学基金面上项目(No.12172226)。
关键词
深度学习
6D位姿估计
仿真数据集
伪孪生神经网络
点向密集匹配
deep learning
6D pose estimation
simulation data set
pseudo-siamese neural network
dense matching of points
