Target recognition method and device based on three-dimensional point cloud and storage medium

A 3D point cloud, target recognition technology, applied in 3D object recognition, character and pattern recognition, image data processing and other directions, can solve problems such as no good solutions

Active Publication Date: 2018-12-18
深圳辰视智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there is currently no good solution for the identification and capture of industrially disordered targets

Method used

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  • Target recognition method and device based on three-dimensional point cloud and storage medium
  • Target recognition method and device based on three-dimensional point cloud and storage medium
  • Target recognition method and device based on three-dimensional point cloud and storage medium

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0088] A method for target recognition based on a three-dimensional point cloud provided by the present invention specifically includes the following steps:

[0089] S1: Generate the 3D pose LUT of the model (Look Up Table displays the lookup table)

[0090] S11 Align the model coordinate system to the camera 1 coordinate system (including the origin and attitude are also aligned separately), use the Euler XYZ rotation angles θX, θY, θZ, and follow the model in sequence dX=π / 180, dY=π / 180 , dZ=π / 180 step size to rotate, and the range of rotation angles in the x, y, and z directions is (-π, π).

[0091] S12 sets the current posture index as (i, j, k), then the current posture is expressed as θX=-π+i*dX, θY=-π+j*dY, θZ=-π+k*dZ, and generates the current The model point cloud under the attitude is stored in the lookup table indexed by (i,j,k), the steps are as follows figure 2 shown, including:

[0092] Judge the size relationship between θX and π; when θX<π is YES, enter the...

Embodiment 2

[0155] The embodiment of the present invention also provides a target recognition device based on 3D point cloud, please refer to Figure 6 , the device includes the following modules:

[0156] A model point cloud LUT generation module 10 , a three-dimensional scene pyramid generation module 20 , a model point cloud clustering module 30 and a point cloud pyramid object recognition module 40 .

[0157] The model point cloud LUT generation module 10 is used to generate the three-dimensional posture LUT of the model;

[0158] The model point cloud LUT generation module 10 includes a rotation unit 101 , a model point cloud generation unit 102 and a model point cloud storage unit 103 .

[0159] The rotation unit 101 is used to align the model coordinate system to the camera 1 coordinate system, using the Euler XYZ rotation angles θX, θY, θZ, and sequentially aligning the model according to dX=π / 180, dY=π / 180, dZ= Rotate with a step size of π / 180; where, the rotation angle ranges ...

Embodiment 3

[0185] According to an embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the steps in the above-mentioned point cloud-based three-dimensional object recognition method are implemented, and the specific steps are as follows: It is described in Example 1 and will not be repeated here.

[0186] The memory in this embodiment can be used to store software programs and various data. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function, etc.; the data storage area may store data created according to the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or othe...

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Abstract

The embodiment of the invention provides a target recognition method and device based on a three-dimensional point cloud and a storage medium. The method comprises the following steps: generating a three-dimensional pose LUT of a model; generating a three-dimensional point cloud pyramid; clustering a 3D pose; performing target recognition based on point cloud pyramid. By adopting the method of theembodiment of the invention, the identification and grasping of the disordered target in industry can be well solved, and the position and the posture of the target can be quickly recognized in the current three-dimensional point cloud scene by using the target stl file to be recognized, the recognition time is short, and the recognition accuracy is high.

Description

technical field [0001] The present invention relates to the field of machine vision, in particular to a target recognition method, device and storage medium based on a three-dimensional point cloud. Background technique [0002] In the current industrial automation production, the dependence on people is getting lower and lower. On the one hand, due to the long-term development and improvement of traditional automated production, it can better solve most fixed scenarios, such as auto parts installation, automotive painting process, automatic welding, etc. In these industrial scenarios, usually It is a pre-calibration between the robotic arm and the target, and then work in a completely fixed manner. On the other hand, due to the development of machine vision technology, most of the 2D object recognition and detection tasks can be well solved in a controlled environment. However, there is currently no good solution for the identification and capture of industrially disorder...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/62G06T7/73G06T17/00
CPCG06T7/73G06T17/00G06T2207/20016G06T2207/10028G06V20/64G06F18/23
Inventor 邓亮姚杰严亮陈先开冯良炳
Owner 深圳辰视智能科技有限公司
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