| abstract |
The invention discloses an RGB-D-based pallet pose estimation method, system and device. The method includes: calculating a compressed grid size based on an image collected by an RGB-D sensor; classifying the pixels of the image to obtain a category matrix; Compress the grid size and perform compression and template matching processing to obtain the matching degree; judging that the matching degree is greater than the preset threshold, the tray area of interest is obtained; based on the tray area of interest, the coordinates of the tray bracket are extracted, and the tray pose parameters are calculated. The system includes: image acquisition module, classification module, matching module, judgment module and tray pose estimation module. The device includes a memory and a processor for executing the above-mentioned RGB-D-based pallet pose estimation method. By using the present invention, it is ensured that the pallet is recognized in a complex environment, and the pose parameters of the pallet are calculated. As an RGB-D-based pallet pose estimation method, system and device, the present invention can be widely used in the field of image recognition pallets. |