Method and system for identifying and positioning targets on basis of three-dimensional point cloud
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A target recognition, 3D point cloud technology, applied in character and pattern recognition, instruments, computer parts, etc., can solve the problems of not fully obtaining the 3D position and attitude information of the workpiece, limiting production efficiency, lack of versatility, etc., to achieve savings Development time, increased computing speed, and the effect of reducing the amount of computation
Active Publication Date: 2017-05-31
BOZHON PRECISION IND TECH CO LTD
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Problems solved by technology
Whenever a production workpiece is replaced, it is necessary to develop a corresponding recognition and positioning algorithm based on the local geometric characteristics of the workpiece itself. The current vision guidance scheme for industrial robots lacks versatility for different workpieces, which seriously limits production efficiency.
In addition, in the currently implemented machine vis
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Embodiment 1
[0065] Such as figure 1 As shown, the present embodiment provides a method for target recognition and positioning based on a three-dimensional point cloud, including the following steps:
[0067] The step S1 specifically includes the following steps:
[0068] S11: importing the model point cloud of the workpiece.
[0069] S12: Calculate the normal vector corresponding to each point in the model point cloud.
[0070] S13: Randomly select a model point pair in the model point cloud, and calculate a model point pair feature corresponding to the model point pair. The model point pair is composed of any two points in the model point cloud and their respective normal vectors.
[0071] S14: Repeat step S13 to obtain a certain number of model point pairs and their corresponding model point pair features in the model point cloud, and create a database using the obtained model point pairs...
Embodiment 2
[0090] Such as image 3 As shown, the present embodiment provides a target recognition and positioning system based on 3D point cloud, including:
[0091] An offline feature extraction module, the offline feature extraction module is used to import the workpiece model, calculate and create a database.
[0092] An online feature matching module, the online feature matching module is used to obtain the final target recognition and positioning results.
[0093] The offline feature module specifically includes:
[0094] The model point cloud loading submodule is used to import the model point cloud of the workpiece.
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Abstract
The invention discloses a method and a system for identifying and positioning targets on the basis of three-dimensional point cloud. The method and the system have the advantages that procedures for identifying and positioning target workpieces during industrial production feeding and discharging are divided into an offline feature extracting module and an online feature matching module, accordingly, the computational complexity in real-time phases can be reduced to a great extent, and the arithmetic speeds can be increased; matching quality estimation is introduced to obtain accurate three-dimensional locations and gestures of the workpieces, and accordingly industrial robots can grab the identified workpieces in corresponding gestures under the control; the method and the system are different from target identifying and positioning algorithms customized and developed for local geometric shape features (such as circles and holes) of existing workpieces, the targets can be universally identified and accurately positioned by the aid of the method and the system, accordingly, algorithms do not need to be redeveloped for the different workpieces, and the development time can be saved; the problem that the existing workpieces are required by the traditional feeding and discharging schemes for robots to be fed into visual fields of existing cameras according to certain gestures can be solved, the method and the system are free of optional requirements on the gestures of the workpieces in visual fields of cameras, and the workpieces can be arranged in a scattered manner or can be stacked on one another or can be shielded by one another.
Description
[0001] Technical field: [0002] The invention belongs to the technical field of machine vision, and in particular relates to a target recognition and positioning method and system based on a three-dimensional point cloud. [0003] Background technique: [0004] In the industrial production process, loading and unloading is an indispensable and frequently occurring production process. In the current industrial production process, different loading and unloading methods are adopted according to the volume and weight of the incoming materials, such as using a vibrating plate to arrange the workpieces (such as screws) with small volume and weight in an orderly manner and supply them to equipment such as locking screw machines; For workpieces that are medium in size and weight and easily damaged, they are manually picked and placed; for workpieces that are large in size and weight and in a harsh production environment, machine vision is used to guide industrial robots to load and u...
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