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Positioning method based on shape context feature

A positioning method and context technology, applied in image data processing, instruments, image feedback, etc., can solve problems such as high algorithm optimization requirements and poor real-time performance, and achieve high precision, faster matching speed, and precise positioning.

Inactive Publication Date: 2018-06-19
广州映博智能科技有限公司
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Problems solved by technology

[0005] Paper "A case study of object identification using a Kinect sensor, 2013IEEE International Conference on Systems, Man, and Cybernetics (SMC). 2013:1743-1747, Huang Z Y, Huang J T, Hsu C M", RGB and depth collected by Kinect information, generate point clouds, and use point cloud segmentation to realize target object recognition, but this method has poor real-time performance and has high requirements for algorithm optimization

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  • Positioning method based on shape context feature
  • Positioning method based on shape context feature
  • Positioning method based on shape context feature

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[0016] The present invention will be described in more detail and complete below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.

[0017] refer to figure 1 , a positioning method based on shape context features of the present invention, said method comprising:

[0018] S1, image acquisition and preprocessing of the workpiece;

[0019] First, binocular cameras are used to collect images of workpieces, but factors such as the light intensity of the collection environment, floating objects in the air, and dust that may appear around the lens will affect the effect of image collection of workpieces. The preprocessing process of the workpiece image is to enhance the area of ​​interest, blur the noise area, and obtain a high-quality image that is convenient for subsequent analysis and calculation. The ...

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Abstract

The invention discloses a positioning method based on a shape context feature. The method comprises the steps of (S1) performing image acquisition on a workpiece and performing preprocessing, (S2) performing threshold segmentation on a workpiece image to extract a contour image, (S3) identifying a workpiece contour from a detected contour, (S4) carrying out stereo matching on left and right diagrams, and (S6) obtaining three-dimensional coordinate information of a grab point. According to the method, a shape context feature detection algorithm is used to recognize the workpiece contour in thedetected contour, the combination of a histogram and Harris corner points is used to generate and match the feature, the matching speed is accelerated, the precision is high, the method has certain adaption ability to environmental change, and the workpiece can be accurately positioned.

Description

technical field [0001] The invention belongs to the field of robot vision positioning, and relates to a positioning method based on shape context features. Background technique [0002] Workpiece recognition and grasping is an important application of industrial robots on the production line. At present, most industrial robots on the production line control the robot to perform predetermined command actions through pre-teaching or offline programming. Once the working environment or target objects occur Changes, the robot cannot adapt to these changes in time, resulting in grasping failure. Therefore, this working method limits the flexibility and work efficiency of industrial robots to a large extent. [0003] Due to its simplicity and ease of use, machine vision technology has been widely used in industry and plays a vital role in improving production efficiency and intelligence. Today, machine vision technology has been widely used in various fields such as inspection an...

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Application Information

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IPC IPC(8): G06T7/73G06T7/11G06T7/136G06T7/13G06T7/33G06T1/00
CPCG06T1/0014G06T2207/30164
Inventor 覃争鸣何中平梁鹏
Owner 广州映博智能科技有限公司
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