Optimization Method for Inter-frame Stability of Object Pose Estimation for Human-Machine Collaboration
Existing object pose estimation methods cannot provide estimated poses with inter-frame stability.As a result,when the results are directly used in visualization scenarios such as augmented reality,it will cause screen jitter,so it's not suitable enough for application scenarios such as human-m...
| Main Author: | |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial office of Computer Science
2021-11-01
|
| Series: | Jisuanji kexue |
| Subjects: | |
| Online Access: | https://www.jsjkx.com/fileup/1002-137X/PDF/1002-137X-2021-11-226.pdf |
| _version_ | 1818992256056557568 |
|---|---|
| author | MU Feng-jun, QIU Jing, CHEN Lu-feng, HUANG Rui, ZHOU Lin, YU Gong-jing |
| author_facet | MU Feng-jun, QIU Jing, CHEN Lu-feng, HUANG Rui, ZHOU Lin, YU Gong-jing |
| author_sort | MU Feng-jun, QIU Jing, CHEN Lu-feng, HUANG Rui, ZHOU Lin, YU Gong-jing |
| collection | DOAJ |
| description | Existing object pose estimation methods cannot provide estimated poses with inter-frame stability.As a result,when the results are directly used in visualization scenarios such as augmented reality,it will cause screen jitter,so it's not suitable enough for application scenarios such as human-machine collaboration.This paper proposes an object pose estimation optimization method that includes multiple methods.By improving the loss function of the original pose estimation method and using causal filtering to optimize the pose estimation result,a stable estimated pose can be obtained.In addition,in order to consummate the eva-luation system of the degree of stability of the pose estimation method,this paper proposes three evaluation indicators:the direct deviation distance DBD,the direction reversal rate DRR and the average displacement angle ADA,which can evaluate the object pose estimation method from multiple viewpoints.Finally,the YCB-STB dataset is used to test,and the method is compared with the original method without optimization.The results show that the proposed method can improve the inter-frame stability of the existing object pose estimation methods without introducing additional resources,and has a small impact on the accuracy of the original method,which satisfies the requirement of object attitude estimation in human-machine collaborative scene. |
| first_indexed | 2024-12-20T20:23:16Z |
| format | Article |
| id | doaj.art-f81dfd8688e64b3bb40616e56f4ef7b9 |
| institution | Directory Open Access Journal |
| issn | 1002-137X |
| language | zho |
| last_indexed | 2024-12-20T20:23:16Z |
| publishDate | 2021-11-01 |
| publisher | Editorial office of Computer Science |
| record_format | Article |
| series | Jisuanji kexue |
| spelling | doaj.art-f81dfd8688e64b3bb40616e56f4ef7b92022-12-21T19:27:31ZzhoEditorial office of Computer ScienceJisuanji kexue1002-137X2021-11-01481122623310.11896/jsjkx.201200095Optimization Method for Inter-frame Stability of Object Pose Estimation for Human-Machine CollaborationMU Feng-jun, QIU Jing, CHEN Lu-feng, HUANG Rui, ZHOU Lin, YU Gong-jing01 School of Mechanical and Electrical Engineering,University of Electronic Science and Technology of China,Chengdu 611731,China<br/>2 School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 611731,China<br/>3 Innovation Center of Automated Testing for Science,Technology and Industry for National Defence,Beijing 100041,ChinaExisting object pose estimation methods cannot provide estimated poses with inter-frame stability.As a result,when the results are directly used in visualization scenarios such as augmented reality,it will cause screen jitter,so it's not suitable enough for application scenarios such as human-machine collaboration.This paper proposes an object pose estimation optimization method that includes multiple methods.By improving the loss function of the original pose estimation method and using causal filtering to optimize the pose estimation result,a stable estimated pose can be obtained.In addition,in order to consummate the eva-luation system of the degree of stability of the pose estimation method,this paper proposes three evaluation indicators:the direct deviation distance DBD,the direction reversal rate DRR and the average displacement angle ADA,which can evaluate the object pose estimation method from multiple viewpoints.Finally,the YCB-STB dataset is used to test,and the method is compared with the original method without optimization.The results show that the proposed method can improve the inter-frame stability of the existing object pose estimation methods without introducing additional resources,and has a small impact on the accuracy of the original method,which satisfies the requirement of object attitude estimation in human-machine collaborative scene.https://www.jsjkx.com/fileup/1002-137X/PDF/1002-137X-2021-11-226.pdfobject pose estimate|human-machine collaboration|loss function|causal filtering |
| spellingShingle | MU Feng-jun, QIU Jing, CHEN Lu-feng, HUANG Rui, ZHOU Lin, YU Gong-jing Optimization Method for Inter-frame Stability of Object Pose Estimation for Human-Machine Collaboration Jisuanji kexue object pose estimate|human-machine collaboration|loss function|causal filtering |
| title | Optimization Method for Inter-frame Stability of Object Pose Estimation for Human-Machine Collaboration |
| title_full | Optimization Method for Inter-frame Stability of Object Pose Estimation for Human-Machine Collaboration |
| title_fullStr | Optimization Method for Inter-frame Stability of Object Pose Estimation for Human-Machine Collaboration |
| title_full_unstemmed | Optimization Method for Inter-frame Stability of Object Pose Estimation for Human-Machine Collaboration |
| title_short | Optimization Method for Inter-frame Stability of Object Pose Estimation for Human-Machine Collaboration |
| title_sort | optimization method for inter frame stability of object pose estimation for human machine collaboration |
| topic | object pose estimate|human-machine collaboration|loss function|causal filtering |
| url | https://www.jsjkx.com/fileup/1002-137X/PDF/1002-137X-2021-11-226.pdf |
| work_keys_str_mv | AT mufengjunqiujingchenlufenghuangruizhoulinyugongjing optimizationmethodforinterframestabilityofobjectposeestimationforhumanmachinecollaboration |