Technology of Graphic & Image
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App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 2
587-592

Category-oriented 3D articulated objects pose estimation based on key points

Zeng Yifang
Qian Weizhong
Wang Xupeng
Yang Xi
College of Information & Software Engineering, University of Electronic Science & Technology of China, Chengdu 610051, China
DOI: 10.19734/j.issn.1001-3695.2021.06.0260

Abstract

To solve the problem of category-oriented 3D articulated objects pose estimation, this paper proposed a category-oriented 3D object pose estimation method based on key points. It designed a network based on key points, which used PointNet++ as base network and estimated the pose of the object through feature extraction, key points extraction, and pose prediction with high accuracy and robust. At the same time, based on ANCSH, it proposed a hierarchical standardized category representation method of key points for K-AOPE, which only required a few points to describe the object category. To evaluate the method, it did some experiments on the public motion dataset shape2motion. The results show that the rotation angle errors of the proposed method are 2.3°, 3.1°, 3.7°, the translation errors are 0.034, 0.030, 0.046, the joint state error are 2.4°, 2.5°, and the joint parameter error are 1.2°, 0.9°, 0.008, 0.010. Compared with other similar methods, the proposed method has lower computational complexity and higher robust.

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.06.0260
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 2
Section: Technology of Graphic & Image
Pages: 587-592
Serial Number: 1001-3695(2022)02-046-0587-06

Publish History

[2021-10-09] Accepted Paper
[2022-02-05] Printed Article

Cite This Article

曾一芳, 钱伟中, 王旭鹏, 等. 基于关键点的类别级三维可形变目标姿态估计 [J]. 计算机应用研究, 2022, 39 (2): 587-592. (Zeng Yifang, Qian Weizhong, Wang Xupeng, et al. Category-oriented 3D articulated objects pose estimation based on key points [J]. Application Research of Computers, 2022, 39 (2): 587-592. )

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  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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