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Alternative TitlePose Measurement Method of Three-Dimensional Object Based on a Multi-Sensor System
潘旺1,2; 朱枫1,3,4; 郝颖明1,3,4; 张丽敏1,2
Source Publication光学学报
Indexed ByEI ; CSCD
EI Accession number20191206658332
Contribution Rank1
Funding Organization国家自然科学基金(U1713216)
Keyword机器视觉 位姿测量 多传感器 三维目标 直线提取
Other AbstractWhen template matching methods are used for the pose measurement of a three-dimensional object, degenerated views are very prone to false match, resulting in the failure of pose measurement. Aiming at this problem, we propose a method based on multi-sensor to measure the pose of a three-dimensional object. We employ multi-sensor technology to make the advantages of the depth camera and the high-resolution CCD camera play well. The two imaging technologies complement each other, improving the robustness and efficiency of measurement. First, the target area is coarsely located in the point cloud based on the relationship between the object and its fixed board, and then, the region is converted to gray image space by the prior calibration information. In the gray image, four target straight lines are extracted by the Line Segment Detector (LSD) and feature constraints. The P4P algorithm is finally utilized to calculate the six-dimensional pose of the object. The experiment verifies the validity of the algorithm and the measuring efficiency is much better than the classical template matching method.
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Document Type期刊论文
Corresponding Author朱枫
Recommended Citation
GB/T 7714
潘旺,朱枫,郝颖明,等. 基于多传感器的三维目标位姿测量方法[J]. 光学学报,2019,39(2):1-9.
APA 潘旺,朱枫,郝颖明,&张丽敏.(2019).基于多传感器的三维目标位姿测量方法.光学学报,39(2),1-9.
MLA 潘旺,et al."基于多传感器的三维目标位姿测量方法".光学学报 39.2(2019):1-9.
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