Intelligent forklift and method for detecting pose deviation of container

A method for detecting a pose deviation of a container, comprising:

• capturing a red-green-blue-depth (RGBD) image frame containing a stock container to be moved in response to monitoring an action of lifting up the stock container to be moved by an intelligent forklift is finished, wherein a red-green-blue (RGB) image and a depth map are determined from the RGBD image frame;
• determining, from the RGB image of the RGBD image frame, a position of the stock container to be moved in the RGB image based on a predetermined container recognition model;
• cutting, from the depth map of the RGBD image frame, a target region of interest containing the stock container to be moved based on the position of the stock container to be moved in the RGB image;
• and
• detecting a pose deviation degree of the stock container to be moved based on a depth feature of the target region of interest, an area feature of the target region of interest, a depth feature of a preset template to be compared, an area feature of the preset template to be compared, a preset depth feature threshold, and a preset area feature threshold.

A non-transitory computer-readable storage medium having computer programs stored thereon, wherein when the computer programs are executed by a processor, a method for detecting a pose deviation of a container is executed, the method comprising:

• capturing a red-green-blue-depth (RGBD) image frame containing a stock container to be moved in response to monitoring an action of lifting up the stock container to be moved by an intelligent forklift is finished, wherein a red-green-blue (RGB) image and a depth map are determined from the RGBD image frame;
• determine, from the RGB image of the RGBD image frame, a position of the stock container to be moved in the RGB image based on a predetermined container recognition model;
• cut, from the depth map of the RGBD image frame, a target region of interest containing the stock container to be moved based on the position of the stock container to be moved in the RGB image;
• and
• detect a pose deviation degree of the stock container to be moved based on a depth feature of the target region of interest, an area feature of the target region of interest, a depth feature of a preset template to be compared, an area feature of the preset template to be compared, a preset depth feature threshold, and a preset area feature threshold.