Vision-based object recognition and positioning method, terminal, and storage medium

Abstract

The invention discloses a vision-based target object identification and positioning method, a terminal and a storage medium, comprising: scene image data and scene point cloud data of a current frameof a depth camera are acquired; image recognition is carried out for the scene image data, and the target object is recognized; the target point cloud data corresponding to the target object is distinguished from the scene point cloud data; plane segmentation is carried out for the points contained in the target point cloud data, and the planes contained in the target object in the current frame are extracted; the target surface is selected from the extracted planes; the posture of the target object is calculated based on the target surface. The technical scheme of the invention adopts first image recognition, then the point cloud is analyzed and processed, and finally the complex object is accurately identified and located by calculating the pose of the target surface with features, whichavoids the complex calculation. The method has the advantages of small calculation amount, high computational efficiency and strong practicability.

Description

technical field [0001] The invention relates to the field of vision technology, in particular to a vision-based target object recognition and positioning method, terminal and storage medium. Background technique [0002] With the introduction and rapid development of artificial intelligence, machine vision as an important branch of image technology has been used in many fields. Machine vision technology strives to automatically analyze images in real time and identify the required information, and achieve real-time monitoring and timely feedback. [0003] In the industrial field, it is often necessary to carry out automatic handling, automatic loading and unloading, etc. for the same target object. Due to the randomness of the placement of each target object, traditional automatic handling or loading and unloading devices must be manually assisted to accurately align the target object. Carrying, otherwise, there may be dangerous situations such as inaccurate handling parts ...

AI Technical Summary

Problems solved by technology

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a vision-based target object identification and positioning method, terminal and storage medium, aiming at solving the difficulty in accurate identification and positioning of complex-shaped target objects in the current technology The problem

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