Method for object identification and three-dimensional pose measurement of complex surface

Abstract

The invention discloses a method for object identification and three-dimensional pose measurement of a complex surface, wherein the information is acquired by using a device for object identification and three-dimensional pose measurement of the complex surface; the method specifically comprises the following steps: setting up an object characteristic database by an offline process, wherein the object characteristic database comprises an object color characteristic database and an object depth characteristic database; and performing the object identification and acquiring a three-dimensional pose parameters on line. Due to the fusion of the depth and color characteristic data acquired by a body sensor and the combination of the object identification and the pose measurement, not only the repeated computation of intermediate parameters is avoided, but also the intelligence level is improved. As the depth object characteristic database and the color object characteristic database are set up by the offline mode, respectively, the efficiency of the object identification and the pose measurement is greatly improved. The invention aims to acquire higher pose precision under the condition that the resolution and precision of the image acquired by the body sensor are relatively low, and the real-time performance is improved.

Description

technical field [0001] The invention relates to the fields of interdisciplinary technologies such as image processing and machine vision, in particular to a novel complex curved surface target recognition and three-dimensional pose measurement method. Background technique [0002] Complex surface target recognition and three-dimensional pose measurement system play a vital role in the robot's grasping target. The current research methods generally divide the target recognition and pose measurement into two parts, which makes some intermediate parameters repeatedly calculated, resulting in waste of resources. If the laser scanning method is used to obtain the surface topography, in addition to the laser generator and high-speed camera, the system also needs to be equipped with a high-precision horizontal displacement worktable. Since the camera always moves with the laser generator during the work process, it is difficult to calibrate the camera. , it is difficult to locate,...

AI Technical Summary

Problems solved by technology

The current research method generally divides target recognition and pose measurement into two parts, which makes some intermediate parameters repeatedly calculated, resulting in waste of resources

If the laser scanning method is used to obtain the surface topography, in addition to the laser generator and high-speed camera, the system also needs to be equipped with a high-precision horizontal displacement worktable. Since the camera always moves with the laser generator during the work process, it is difficult to calibrate the camera. , difficult to locate, not conducive to engineering applications, and the system has high cost, complex structure, large amount of data, and it is difficult to automatically obtain pose parameters

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