The invention discloses a ship
pipe identification and
assembly method based on a binocular camera. The method comprises the following steps: selecting an optimal acquisition angle to acquire a three-dimensional
image pair of a
pipe through the binocular camera according to the geometrical shape of the
pipe; performing three-dimensional correction on the acquired three-dimensional
image pair, generating a
depth map, reconstructing a three-dimensional
point cloud of the pipe, and extracting geometric parameters of the pipe from the three-dimensional
point cloud; taking the
stereo image pair, the
depth map and the geometric parameters as input parameters of a deep neural
network model, and identifying the type of the pipe and a local component of the pipe; performing multi-stage matching on the recognition result and a design
database to obtain complete part information; and according to the tube type identification result, the tube matching result and the inventory state, obtaining an optimal set distribution scheme through a
reinforcement learning model. According to the method, through fusion of
binocular vision and
deep learning, the recognition precision is remarkably improved, the second
processing speed is greatly improved, the set distribution efficiency is remarkably improved, and the robustness and recognition are enhanced.