The present application relates to the field of exploration survey, disclose a kind of rock sampling
pose calculation method for field geological reconnaissance
robot, comprising: the
color image and depth image of target area are collected by depth camera, and three-dimensional
point cloud is generated;Based on multi-scale geometric feature analysis, combined with
spatial distribution constraint and
confidence score, candidate points are automatically screened from
point cloud, and stable sampling points and their pixel coordinates are output by
time sequence smoothing and stability discrimination;Local depth data is extracted in the neighborhood of sampling point and converted into local
point cloud, and the three-dimensional position and surface normal vector of the point in camera coordinate
system are calculated using
plane fitting algorithm;The position and normal vector are converted to the base coordinate
system of mechanical arm using the pre-calibrated hand-eye conversion matrix, and the complete
pose of the end
effector is constructed based on the normal vector, and the target
pose matrix is obtained by combination.The present application realizes the stable, accurate and automatic calculation of rock sampling point pose in complex outdoor environment.