Container contour positioning method based on angular point detection

Abstract

The invention discloses a container contour positioning method based on angular point detection. Images at the two sides of a container below are acquired through a pick-up head, by use of a container lockhole coarse positioning and tracking method, coarse positioning areas of upper and lower lockholes of the images are obtained and images I1 and I2 in the areas are obtained; mask matrixes m1 and m2 in the same size as the images I1 and I2 are newly established, according to the upper and lower lockhole course positioning images I1 and I2 and the corresponding mask matrixes m1 and m2, segmentation images are obtained by use of a Grabcut algorithm, then according to the segmentation images, minimum external connection rectangles of foregrounds of the images are obtained by use of an algorithm of obtaining minimum external rectangles, and by taking one summit of each rectangle as an angular point of a container contour, based on a binocular stereo visual technology, pixel coordinates of inflection points are converted into world coordinates and are sequenced to form a quadrangle, i.e., the container contour. The method can effectively solve the disadvantages of light interference, non-obvious lockhole foreground and background discrimination and the like, prevents the problem of low recognition rate under the condition of insufficient light and realizes accurate positioning of the container contour.

Description

technical field [0001] The invention belongs to the field of computer vision technology and image processing technology, and in particular relates to a container contour positioning method based on corner point detection. Background technique [0002] With the development of container transportation, container ships are getting bigger and bigger, the proportion of cargo containerized is constantly increasing, and the volume of container transportation is constantly increasing. From the analysis of voyage economic accounting, by shortening the berthing time of container ships, the cost of berthing can be reduced, the navigation efficiency of container transport ships can be improved, and the advantages of unit transportation costs of ships can be fully utilized to improve economic benefits. The traditional manual control of grabbing containers has greatly affected the loading and unloading speed. A bridge crane loads the container from the freighter to the trailer. The proce...

AI Technical Summary

Problems solved by technology

[0004] To sum up, the current method has the following deficiencies: (1) Only the edges on both sides of the container are located instead of the surrounding area. (2) The use of corner points instead of the vertices of the outer contour of the container brings large errors; (3) The recognition rate is low under low light conditions, etc.

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