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

A technology of three-dimensional position and calculation method, which is applied in the direction of measuring devices, optical devices, instruments, etc., can solve problems such as poor versatility and robustness, inability to obtain stable positioning results, and restrictions on the promotion of visual three-dimensional positioning software

Active Publication Date: 2015-11-04
SOUTH CHINA AGRI UNIV
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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 addi

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

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Embodiment

[0062] Such as figure 1 Shown is a flow chart of the method for calculating the three-dimensional position and normal vector of a part based on a depth map in the present invention. First, use the binocular stereo vision system to acquire the left and right images; then, use the shape matching algorithm to identify the part in the left image, and calculate the dense depth map of the part; then, use non-uniform sampling techniques and statistical analysis methods to remove the dense depth map outlier data in; fourth, use the random sampling consensus algorithm to fit the plane in the dense depth map; finally, calculate the three-dimensional position and normal vector of the part according to the plane equation, and perform coordinate transformation.

[0063] Specific steps are as follows:

[0064] Step 1: Create a template image with a size of 140 pixels*140 pixels, obtain the left and right images with a size of 1280 pixels*960 pixels, and use the shape matching algorithm to ...

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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...

Claims

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Application Information

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IPC IPC(8): G01B11/00
Inventor 邹湘军林桂潮刘念李博莫玉达罗陆锋陈明猷
Owner SOUTH CHINA AGRI UNIV
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