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一种基于线结构光的长方体形物体三维识别与定位方法
Alternative TitleRectangular object recognition and location method
王爽; 郝颖明; 朱枫; 嵇冠群; 欧锦军; 吴清潇
Department光电信息技术研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status有权
Abstract本发明涉及一种基于线结构光的长方体形物体三维识别与定位方法:利用结构光测量传感器定时扫描传送带,获取图像;利用重心法提取图像中的结构光数据;确定长方体形物体的结构光数据,进而得到其左右端点图像坐标;对左右端点图像坐标进行精细化处理;左右端点图像坐标转换为三维空间坐标;图像拼接;长方体形物体目标分割;计算长方体形物体的长边中心三维坐标(或型心三维坐标)及旋转角度。本发明可以实现传送带上长方体形物体位姿的在线、实时、自动、非接触测量,测量速度快、系统柔性好,精度适中;对物体自身约束小,长度、宽度、高度以及表面颜色、图案可以随意变化;传送带上物体位置可以随意变化;对噪声具有鲁棒性。
Other AbstractThe method involves determining a rectangular object position on a conveying belt by using a structured light measuring sensor. A structured light image is extracted by using a gravity algorithm to obtain structured light measurement data. A rectangular object is determined based on the structured light measurement data to obtain an image coordinate point of the rectangular object along horizontal direction. A target image is obtained by dividing the rectangular object. Long side central three-dimensional coordinate and rotation angle of the rectangular object is determined.
PCT Attributes
Application Date2016-12-08
2018-06-19
Date Available2019-07-26
Application NumberCN201611120332.9
Open (Notice) NumberCN108180825A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/22164
Collection光电信息技术研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
王爽,郝颖明,朱枫,等. 一种基于线结构光的长方体形物体三维识别与定位方法[P]. 2018-06-19.
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