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公开(公告)号：US11170528B2
公开(公告)日：2021-11-09
申请号：US16548868
申请日：2019-08-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Wanli Zhang , Jianxin Pang
Abstract: The present disclosure relates to robot technology, which provides an object pose tracking method and apparatus. The method includes: obtaining an initial pose of the object, and determining a first viewing angle of an object with respect to a camera based on the initial pose; searching for a first 3D model corresponding to the first viewing angle; calculating a projected contour of an initial pose using the searched first 3D model, and obtaining feature point(s) of the projected contour; calculating a pose change amount based on the feature point(s) of the projected contour and feature point(s) of a real contour; and performing an iterative calculation on the pose change amount to obtain a pose correction amount, and obtaining a corrected pose of the object based on the pose correction amount. In the calculation process, the 3D model can be selected to improve the calculation speed by fewer feature points.
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公开(公告)号：US11279045B2
公开(公告)日：2022-03-22
申请号：US16556233
申请日：2019-08-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Jianxin Pang , Wanli Zhang , Jingtao Zhang
Abstract: The present disclosure relates to robot technology, which provides a robot pose estimation method as well as an apparatus and a robot using the same. The method includes: obtaining, through an inertial measurement unit, initial 6DoF pose data; performing a first correction on the initial 6DoF pose data based on pose data obtained through an auxiliary sensor to obtain corrected 6DoF pose data; obtaining, through a 2D lidar sensor disposed on a stable platform, 3DoF pose data; and performing a second correction on the corrected 6DoF pose data based on the 3DoF pose data to obtain target 6DoF pose data. In this manner, the accuracy of the pose data of the robot is improved, and the accurate pose estimation of the robot is realized.
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公开(公告)号：US20200206945A1
公开(公告)日：2020-07-02
申请号：US16556233
申请日：2019-08-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Jianxin Pang , Wanli Zhang , Jingtao Zhang
Abstract: The present disclosure relates to robot technology, which provides a robot pose estimation method as well as an apparatus and a robot using the same. The method includes: obtaining, through an inertial measurement unit, initial 6DoF pose data; performing a first correction on the initial 6DoF pose data based on pose data obtained through an auxiliary sensor to obtain corrected 6DoF pose data; obtaining, through a 2D lidar sensor disposed on a stable platform, 3DoF pose data; and performing a second correction on the corrected 6DoF pose data based on the 3DoF pose data to obtain target 6DoF pose data. In this manner, the accuracy of the pose data of the robot is improved, and the accurate pose estimation of the robot is realized.
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公开(公告)号：US20200184682A1
公开(公告)日：2020-06-11
申请号：US16548868
申请日：2019-08-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YOUJUN XIONG , Wanli Zhang , Jianxin Pang
Abstract: The present disclosure relates to robot technology, which provides an object pose tracking method and apparatus. The method includes: obtaining an initial pose of the object, and determining a first viewing angle of an object with respect to a camera based on the initial pose; searching for a first 3D model corresponding to the first viewing angle; calculating a projected contour of an initial pose using the searched first 3D model, and obtaining feature point(s) of the projected contour; calculating a pose change amount based on the feature point(s) of the projected contour and feature point(s) of a real contour; and performing an iterative calculation on the pose change amount to obtain a pose correction amount, and obtaining a corrected pose of the object based on the pose correction amount. In the calculation process, the 3D model can be selected to improve the calculation speed by fewer feature points.
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