A visual positioning method, system and storage medium for a mold clamping machine

A technology of visual positioning and mold clamping machine, which is applied in computer parts, character and pattern recognition, image analysis, etc. It can solve the problems of noise sensitivity, missing recognition, and target object misrecognition, etc., to reduce impact, small environmental impact, The effect of high recognition rate

Active Publication Date: 2020-06-30
TSINGHUA UNIV +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

2. Sensitivity to noise
Factors such as working environment and illumination changes affect the quality of the captured image. The quality of the image and the interference structure in the scene will directly lead to misrecognition and missed recognition of the target object.

Method used

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  • A visual positioning method, system and storage medium for a mold clamping machine
  • A visual positioning method, system and storage medium for a mold clamping machine
  • A visual positioning method, system and storage medium for a mold clamping machine

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Embodiment Construction

[0026] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0027] According to an embodiment of the present invention, a visual positioning method for a mold clamping machine is proposed, such as figure 1 As shown, the method includes the following steps:

[0028] Step 100, calibrate the binocular camera, and obtain the internal and external parameters of the camera.

[0029] Binocular camera calibration refers to obtaining the internal and external parameters of the left and right cameras separately, and performing stereo calibration and alignment on the left and right images through stereo calibration to determine the relative positional relationship between the two cameras, that is, the center distance.

[0030] According to the present invention, the calibration method can a...

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Abstract

A visual positioning method, system and storage medium of a mold clamping machine, the method includes the steps of: calibrating a binocular camera to obtain internal and external parameters of the camera; using the binocular camera to shoot a group of digital grayscale images for I l and I r ; for image I l and I r After correction, the edge image I' is obtained after edge detection l and I' r ; Obtain the projected image of the target, use the projected image to match and identify the target in the scene, and obtain the image I' l and I' r The pixel coordinates of the target in (x l ,y l ) and (x r ,y r ), the difference between the two abscissas is recorded as the parallax d, d=x l ‑x r ; Compensate the pixel-level parallax d to obtain high-precision sub-pixel parallax d'; use the coordinate mapping matrix K obtained from camera calibration and sub-pixel parallax d' to obtain the Cartesian coordinates of the target object. The method of the invention has the advantages of high recognition rate, high calculation precision, fast calculation speed and little environmental impact.

Description

technical field [0001] The invention relates to the field of image and video data processing, and relates to the identification and positioning of a specific target in an image, in particular to a visual positioning method, system and storage medium of a clamping machine. Background technique [0002] Target recognition and localization are important issues in computer vision. Its purpose is to measure the three-dimensional space coordinates of the target object and provide relative position information of the measured object. Target recognition and positioning are widely used in industrial automation, robotics, unmanned driving and other fields. It is an important research field in computer vision, especially in image understanding. [0003] Target recognition and positioning can effectively extract the depth information of targets in complex scenes, providing a solid guarantee for machine intelligence. There are many methods for target recognition and localization, and m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/20G06T7/13G06T7/73G06T7/80
CPCG06T7/13G06T7/74G06T7/85G06T2207/20056G06V10/22
Inventor 周建锋汪晨
Owner TSINGHUA UNIV
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