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1.发明授权公开(公告)号：US11182644B2
公开(公告)日：2021-11-23
申请号：US16725357
申请日：2019-12-23
Applicant: Beijing Institute of Technology
Inventor： Xiaopeng Chen , Qiang Huang , Siyuan Gou , Zhangguo Yu , Xuechao Chen , Junyao Gao , Yang Xu
Abstract: The present application provides a method and apparatus for pose planar constraining on the basis of planar feature extraction, wherein the method includes: inputting the acquired RGB color image and point cloud image into spatial transformation network to obtain two-dimensional and three-dimensional affine transformation matrixes; extracting the planar features of the transformed two-dimensional affine transformation matrix and three-dimensional affine transformation matrix; inputting the acquired planar features into the decoder and obtain the pixel classification of the planar features; clustering the vectors corresponding to the planar pixels to obtain the segmentation result of the planar sample; using planar fitted by the segmentation result to make planar constraint to the pose calculated by vision algorithm. The application combines RGB-D information to perform plane extraction, and designs a new spatial transformation network to transform two-dimensional color image and three-dimensional point cloud image.
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2.发明申请公开(公告)号：US20210192271A1
公开(公告)日：2021-06-24
申请号：US16725357
申请日：2019-12-23
Applicant: Beijing Institute of Technology
Inventor： Qiang Huang , Xiaopeng Chen , Wei Cheng , Zhangguo Yu , Xuechao Chen , Junyao Gao , Yang Xu
Abstract: The present application provides a method and apparatus for pose planar constraining on the basis of planar feature extraction, wherein the method includes: inputting the acquired RGB color image and point cloud image into spatial transformation network to obtain two-dimensional and three-dimensional affine transformation matrixes; extracting the planar features of the transformed two-dimensional affine transformation matrix and three-dimensional affine transformation matrix; inputting the acquired planar features into the decoder and obtain the pixel classification of the planar features; clustering the vectors corresponding to the planar pixels to obtain the segmentation result of the planar sample; using planar fitted by the segmentation result to make planar constraint to the pose calculated by vision algorithm. The application combines RGB-D information to perform plane extraction, and designs a new spatial transformation network to transform two-dimensional color image and three-dimensional point cloud image.
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公开(公告)号：US11614719B2
公开(公告)日：2023-03-28
申请号：US16742542
申请日：2020-01-14
Applicant: Beijing Institute of Technology
Inventor： Qiang Huang , Xiaopeng Chen , Yang Xu , Zhangguo Yu , Xuechao Chen , Weimin Zhang
IPC: B25J9/16 , H04N5/232 , G05B19/4155 , G05B13/04 , B25J17/02 , H04N23/695 , H04N23/68
Abstract: The present application discloses a wide-field-of-view anti-shake high-dynamic bionic eye. A trajectory tracking method based on a bionic eye robot includes: establishing a linear model according to a bionic eye robot; establishing a full state feedback control system on the basis of the linear model; in the full state feedback control system, acquiring an angle and an angular acceleration required for a joint in a target tracking process of the bionic eye on the basis of a preset trajectory expectation value and a preset joint angle expectation value; the method further includes: adopting a linear quadratic regulator (LQR) to calculate a parameter K in the full state feedback control system, and minimizing energy consumption by establishing an energy function, so as to optimize the coordinated head-eye motion control of the linear bionic eye. The present application achieves the optimal control of the target tracking.
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