Planar component three-dimensional position and normal vector calculation method based on depth map

Abstract

The invention discloses a planar component three-dimensional position and normal vector calculation method based on a depth map. the method comprises the steps of: identifying a component through shape matching, and acquiring a dense depth map of an area-of-interest where the component is positioned by using a binocular three-dimensional vision system; carrying out non-uniform sampling and statistical analysis on the dense depth map to remove off-group points; fitting a plane in the dense depth map by using a robust random sample consensus algorithm; and calculating a three-dimensional position and a normal vector of the component according to a plane equation, and providing a conversion method for a camera coordinate system and a world coordinate system. The planar component three-dimensional position and normal vector calculation method has the advantages of high universality, high positioning accuracy and good stability, and is suitable for planar components.

Description

technical field [0001] The invention relates to the field of three-dimensional positioning of visual industrial robot parts, in particular to a method for calculating the three-dimensional position and normal vector of a plane part based on a depth map. Background technique [0002] Visual industrial robots are often used in fields such as welding, palletizing, assembly, processing, testing, logistics handling, and spraying. Parts need to be identified and three-dimensionally positioned during the application process. Three-dimensional positioning of parts is an important prerequisite for visual industrial robots to accurately perform operations such as grasping and assembly. The accuracy of three-dimensional positioning directly affects the quality of manufacturing. In the industrial unstructured environment, the poses of the parts are different, and the parts are often disturbed by factors such as nonlinear lighting changes, messy backgrounds and occlusions, so that the tr...

AI Technical Summary

Problems solved by technology

In the industrial unstructured environment, the poses of the parts are different, and the parts are often disturbed by factors such as nonlinear lighting changes, messy backgrounds and occlusions, so that the traditional 3D positioning method based on sparse feature points cannot obtain stable and accurate positioning. result

In addition, a lot of research has been done in related fields at home and abroad. The existing visual three-dimensional positioning system is mainly developed according to the shape and size of specific parts, and its versatility and robustness are not strong. The promotion of visual three-dimensional positioning software is limited limit

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