訓練數據產生裝置、應用其的訓練數據產生方法及機械手臂系統

晶片暨系統整合服務平台計畫

訓練資料產生裝置包括虛擬場景模擬單元、垂直投影虛擬攝像單元、物件遮蔽判斷單元、視角投影虛擬攝像單元及訓練資料產生單元。虛擬場景模擬單元用以產生虛擬場景，虛擬場景包含數個物件。垂直投影虛擬攝像單元用以擷取虛擬場景之垂直投影圖。物件遮蔽判斷單元用以依據垂直投影圖，標記各物件的遮蔽狀態。視角投影虛擬攝像單元用以擷取虛擬場景之視角投影圖。訓練資料產生單元用以依據視角投影圖及各物件的遮蔽狀態，產生虛擬場景的訓練資料。

A training data generation device includes a virtual scene generation unit, an orthographic virtual camera, an object-occlusion determination unit, an object-occlusion determination unit and a perspective virtual camera. The virtual scene generation unit is configured for generating a virtual scene, wherein the virtual scene comprises a plurality of objects. The orthographic virtual camera is configured for capturing a vertical projection image of the virtual scene. The object-occlusion determination unit is configured for labeling an occluded-state of each object according to the vertical projection image. The perspective virtual camera is configured for capturing a perspective projection image of the virtual scene. The training data generation unit is configured for generating a training data of the virtual scene according to the perspective projection image and the occluded-state of each object.