A Calculation Method of 3D Position and Normal Vector of Planar Parts 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 the problems of non-uniformity, limited promotion of visual three-dimensional positioning software, weak versatility and robustness, etc., and achieves good stability. and the effect of precision

Active Publication Date: 2018-02-16
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 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

Method used

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  • A Calculation Method of 3D Position and Normal Vector of Planar Parts Based on Depth Map
  • A Calculation Method of 3D Position and Normal Vector of Planar Parts Based on Depth Map
  • A Calculation Method of 3D Position and Normal Vector of Planar Parts Based on Depth Map

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Embodiment 1

[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 method for calculating the three-dimensional position and normal vector of a plane part based on a depth map, which uses shape matching to identify the part, and then uses a binocular stereo vision system to obtain a dense depth map of the region of interest where the part is located; Non-uniform sampling and statistical analysis to remove outliers; then use a robust random sample consensus algorithm to fit the plane in the dense depth map; calculate the 3D position and normal vector of the part according to the plane equation, and give the camera The conversion method between the coordinate system and the world coordinate system. The invention has strong versatility, high positioning accuracy and good stability, and is suitable for planar parts.

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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Patent Type & Authority Patents(China)
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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