Three-dimensional coordinate positioning method based on machine vision

A technology of three-dimensional coordinates and positioning method, applied in instruments, image data processing, calculation and other directions, can solve the problems of high computational complexity, can not meet industrial real-time requirements and other problems, achieve high matching accuracy, accurate workpiece depth information extraction, fast The effect of matching speed

Inactive Publication Date: 2018-06-19
广州映博智能科技有限公司
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[0008] The purpose of the present invention is to provide a three-dimensional coordinate positioning method based on machine vision. By introducing the shape context into the stereo matching of the binocular vision workpiece image, and introducing the centroid constraint condition, the shape context and the gradient direction histogram are fused to form a joint similarity measure , introduced RANSAC to eliminate mismatching points, achiev

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  • Three-dimensional coordinate positioning method based on machine vision
  • Three-dimensional coordinate positioning method based on machine vision
  • Three-dimensional coordinate positioning method based on machine vision

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[0019] 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.

[0020] refer to figure 1 , a kind of three-dimensional coordinate positioning method based on machine vision of the present invention, described method comprises:

[0021] S1, image acquisition, preprocessing and contour extraction of the workpiece;

[0022] Two self-developed black and white CCD cameras with the same configuration of 640×480 resolution are used to form a binocular vision system, and the workpieces to be inspected are photographed from different angles of view. Dust and other factors will affect the effect of workpiece image acquisition.

[0023] The preprocessing process of the workpiece image is to enhance the area of ​​interest, blur the noise area...

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Abstract

The invention discloses a three-dimensional coordinate positioning method based on machine vision. The method comprises the steps of (S1) performing image acquisition, preprocessing and contour extraction on a workpiece, (S2) performing distance normalization processing on a feature vector, (S3) determining a candidate matching point set, (S4) obtaining an initial matching point set, and (S5) removing a mismatched point pair. According to the scheme of the invention, a shape context is introduced into the stereo matching of a binocular visual workpiece image, a centroid constraint condition isintroduced, the shape context and a gradient direction histogram are fused to form a joint similarity measurement, an RANSAC is introduced to eliminate mismatched points, high matching precision anda fast matching speed are achieved, and the rapid and accurate workpiece depth information extraction and 3D positioning requirements of binocular vision in the industry are satisfied.

Description

technical field [0001] The invention belongs to the field of robot vision positioning, and relates to a three-dimensional coordinate positioning method based on machine vision. Background technique [0002] With the development of machine vision technology, binocular vision is widely used in object recognition, virtual reality, industrial inspection, robot navigation and aerospace and other fields. In recent years, binocular vision-based workpiece recognition and positioning to provide image information for robot 3-D automatic grasping has become a research focus, among which stereo matching and 3-D information reconstruction of key grasping points are the main research contents. [0003] As a key technology of binocular vision, stereo matching aims to determine the corresponding relationship between pairs of stereo images. A matching algorithm with high precision, fast speed and strong robustness has become the goal pursued by the majority of researchers. Among them, the f...

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Application Information

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IPC IPC(8): G06T7/73G06T7/593G06T5/00
CPCG06T5/002G06T2207/10012G06T2207/30164
Inventor 覃争鸣杨旭何中平
Owner 广州映博智能科技有限公司
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