Comments (4)
@hlcool 惊涛你好,制作自己的训练集确实是痛点,之前用LabelFusion采集过数据集做过一些尝试,确实采集过程复杂一些,不过感觉没有太好的办法;训练集应该是需要虚拟数据集和真实数据集,因为只使用采集的真实数据集工作量太大;虚拟部分:需要重建带纹理逼真的3D模型,并且进行真实感的渲染,可以使用引擎;真实部分:可以借助LabelFusion采集一些,或者借助Aruco工具;个人觉得如果物体能够采集到深度数据,就可以不用单目6D位姿估计,可以使用基于点云的物体6D位姿估计或者配准算法;如果物体不能够采集到深度数据,那么才必须用单目6D位姿估计的方法;
from vision-based-robotic-grasping.
是的,谢谢杜博,制作数据集这个过程我确实走了不少弯路,试了很多种方法。
正如杜博所说,假如有深度数据,我们靠单视角的深度图恢复点云后跟3D模型进行ICP匹配也可以获得物体的位姿,LabelFusion就是用的这种思路,并且这个位姿是可以作为训练数据的真值的。
可是这种方法耗时太长,算法效率不高,假如我们想做动态的抓取、视觉伺服或者AR,这种方法就行不通。
针对有纹理的物体,目前我试过最好的方法就是simtrack和MOPED,不过他们是靠特征点匹配来做的。
杜博目前觉得使用深度学习方法(depth+rgb)做位姿估计精度比较高、实时性好的有哪些? PVN3D咋样?
from vision-based-robotic-grasping.
@hlcool 如果对速度有要求,确实需要用RGB来做;PVN3D很好,不过要求物体能够采集到深度图,而且2D分割效果较好;精度和速度都好比较难,不过可以参考下Google的MediaPipe Objectron,可以在移动端实时,但精度应该不能用于机器人抓取;感觉如果要落地,还是需要针对具体落地场景,优化算法以及端侧加速;
from vision-based-robotic-grasping.
谢谢杜博,我把这个issues先关闭,我昨天周末在家没事翻到你在智东西的公开课。ppt最后有你的微信二维码,希望能加你好友,以后有问题可以向你请教,3Q
from vision-based-robotic-grasping.
Related Issues (6)
- 专业术语请教 HOT 2
- 关于6D位姿估计与抓取的问题 HOT 3
- 低成本硬件环境下的机械臂抓取 HOT 2
- 关于专业名词的请教 HOT 1
- 6D位姿估计和3D 目标检测之间的主要区别? HOT 1
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from vision-based-robotic-grasping.