Automatic object recognition method and system thereof, shopping device and storage medium

An automatic object recognition system, comprising:

• an image acquisition module, configured to acquire a first image and a second image, both the first image and the second image comprising a same object, and the second image being a depth image;
• a feature extraction module, configured to extract a feature point of the object based on the first image;
• a feature joint module, configured to obtain a joint feature based on the feature point from the first image and depth information of the second image;
• and
• a recognition module, configured to recognize the object based on the joint feature;
• wherein the feature joint module is further configured to compute a three-dimensional feature corresponding to the feature point based on the feature point and the depth information of the second image, and merge the three-dimensional feature and the feature point to obtain the joint feature;
• the feature joint module is further configured to establish a three-dimensional coordinate system of the feature point based on the feature point and the depth information of the second image, and compute the three-dimensional feature corresponding to the feature point according to the three-dimensional coordinate system of the feature point;
• and
• the feature joint module is further configured to perform a registration operation on the first image and the second image to obtain registration information between the first image and the second image, the registration information including the depth information of the second image, determine a feature surface of the object according to the feature point, compute three-dimensional information of feature description points of the feature surface based on the registration information, and establish the three-dimensional coordinate system of the feature point based on the three-dimensional information of the feature description points and the feature point.

An automatic object recognition system, comprising:

• an image acquisition device, configured to acquire a first image and a second image, both the first image and the second image comprising a same object, and the second image being a depth image;
• a non-transitory memory, configured to store computer readable instructions;
• and
• a processor, configured to execute the computer readable instructions, wherein when the computer readable instructions are executed by the processor, the processor performs:
• acquiring a first image and a second image, both the first image and the second image comprising a same object, and the second image being a depth image;
• extracting a feature point of the object based on the first image;
• obtaining a joint feature based on the feature point from the first image and depth information of the second image;
• and
• recognizing the object based on the joint feature,
• wherein obtaining the joint feature based on the feature point from the first image and depth information of the second image includes
• computing a three-dimensional feature corresponding to the feature point based on the feature point and the depth information of the second image, and
• merging the three-dimensional feature and the feature point to obtain the joint feature;
• wherein computing the three-dimensional feature corresponding to the feature point based on the feature point and the depth information of the second image includes
• establishing a three-dimensional coordinate system of the feature point based on the feature point and the depth information of the second image, and
• computing the three-dimensional feature corresponding to the feature point according to the three-dimensional coordinate system of the feature point;
• wherein establishing the three-dimensional coordinate system of the feature point based on the feature point and the depth information of the second image includes
• performing a registration operation on the first image and the second image to obtain registration information between the first image and the second image, the registration information including the depth information of the second image,
• determining a feature surface of the object according to the feature point,
• computing three-dimensional information of feature description points of the feature surface based on the registration information, and
• establishing the three-dimensional coordinate system of the feature point based on the three-dimensional information of the feature description points and the feature point.