Data generation method and apparatus, and storage medium
AssigneeCloudminds Robotics Co., Ltd.
InventorsQiang FU, Guoguang DU, Shikui MA, Fei PENG
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Abstract
The present disclosure discloses a data generation method and apparatus, and a computer-readable storage medium, the method including: importing a robot model by using a game engine; simulating a Red-Green-Blue Depth (RGBD) camera by a scene capture component in the game engine; controlling a human hand of the imported robot model to move within a field of view of the RGBD camera by using a joint control module in the game engine; acquiring RGBD image data by using the RGBD camera; and generating an annotated data set with coordinates of 21 key points according to the RGBD image data and coordinate information of a 3D pose of the 21 key points.
Claims12
A data generation method, comprising:
- importing a robot model by using a game engine;
- simulating an RGBD camera by a scene capture component in the game engine;
- controlling a human hand of the imported robot model to move within a field of view of the RGBD camera by using a joint control module in the game engine;
- acquiring RGBD image data by using the RGBD camera;
- and
- generating an annotated data set with coordinate of a key point according to the RGBD image data and coordinate information of a 3D pose of the key point.
A data generation apparatus, comprising:
- a model import module configured to import a robot model by using a game engine;
- a camera simulation module configured to simulate an RGBD camera by a scene capture component in the game engine;
- a joint control module configured to control a human hand of the imported robot model to move within a field of view of the RGBD camera;
- an image acquisition control module configured to acquire RGBD image data using the RGBD camera;
- and
- a data generation module configured to generate an annotated data set with coordinate of a key point according to the RGBD image data and coordinate information of the 3D pose of the key point.
Dependencies are inferred from the claim text.