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Object positioning method and device based on RGB-D information and machine vision system

A technology of machine vision system and object positioning, which is applied in the direction of instruments, image data processing, calculation, etc., can solve the problems of being easily affected by data noise and limited application range of algorithms, and achieve high real-time and robust effects

Inactive Publication Date: 2018-01-09
BEIJING UNION UNIVERSITY
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Problems solved by technology

However, its method of judging objects based on the number of pixels limits the application range of the algorithm and is easily affected by data noise.

Method used

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  • Object positioning method and device based on RGB-D information and machine vision system
  • Object positioning method and device based on RGB-D information and machine vision system
  • Object positioning method and device based on RGB-D information and machine vision system

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Embodiment Construction

[0040] In order to understand the above-mentioned purpose, features and advantages of the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0041] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described here. Therefore, the protection scope of the present invention is not limited by the specific details disclosed below. EXAMPLE LIMITATIONS.

[0042] Such as figure 1 As shown, an object positioning method based on RGB-D information according to an embodiment of the present invention is used in a machine vision system, including: step 102,...

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Abstract

The invention provides an object positioning method and device based on RGB-D information and a machine vision system, and relates to the technical field of digital image processing. The object positioning method based on RGB-D information comprises the following steps: obtaining environment images under a current viewpoint; based on an RANSAC algorithm, in geometrical similarity measurement criterion, introducing a color similarity metric to measure the similarity between points and a plane, carrying out partitioning on a point cloud graph, and selecting a seed point from each block in sequence to obtain plane parameters; carrying out local point judgment according to color information and geometry information of the environment images, carrying out re-estimation on the plane parameters and extracting a plane characteristic equation; and obtaining a point cloud cluster of each object under the current viewpoint through a region growing algorithm based on the RGB-D information to realize object positioning. The method realizes an efficient and stable object localization algorithm through combination of the RGB-D information and the region growing algorithm, can locate a plurality of objects having a certain mutual shielding, and has high real-time performance and robustness.

Description

technical field [0001] The present invention relates to the technical field of digital image processing, in particular to an object positioning method and device based on RGB-D information and a machine vision system. Background technique [0002] Object localization is an important part of intelligent service robot to realize environment perception, and it is also an important branch of machine vision. The object positioning of intelligent robots requires that the robot can accurately locate specific objects in complex home environments such as desktops, refrigerators or the ground, and provide necessary information for its subsequent object recognition and operation, including the size, center of gravity, position, posture, etc. information. Traditional intelligent service robots mainly realize object positioning based on images. But this kind of method is only for a specific object, and it needs to build the model of the object or collect the image of the object offline...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/60G06T7/90
Inventor 刘宏哲袁家政郭燕飞
Owner BEIJING UNION UNIVERSITY
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