Volume measurement method, device and storage medium based on binocular vision

Abstract

The present application proposes a volume measurement method, device and storage medium based on binocular vision, wherein the method includes: acquiring the first cargo image and the second cargo image captured by the binocular camera; 2. Cargo image, obtain the depth map of the goods; determine the depth information of the goods according to the positional relationship between the depth map of the goods and the binocular camera; determine the outsourcing of the top surface of the goods according to the normal vector of each point on the top surface of the goods in the depth map Based on the outer envelope contour, use the least squares method to fit the minimum border of the top surface of the cargo to determine the length and width of the cargo; determine the volume of the cargo based on the length, width and depth information of the cargo. Through this method, the length, width, and height of the goods can be accurately obtained, thereby improving the accuracy of volume measurement, reducing volume measurement errors, and solving the technical problems of large limitations and low measurement accuracy of object volume measurement methods in the prior art .

Description

technical field [0001] The present application relates to the technical field of intelligent non-contact measurement and control, in particular to a volume measurement method, device and storage medium based on binocular vision. Background technique [0002] The volume measurement of goods entering the warehouse is one of the main technical difficulties in realizing unmanned intelligent storage. [0003] At present, in traditional logistics and warehousing, there are generally three ways to obtain the volume information of goods, that is, to measure the volume of goods by using laser rangefinder, binocular stereo vision measurement or infrared scanning. [0004] However, there are certain defects in the existing volume measurement methods, which mainly measure standard boxes and the measurement scene is fixed, and are mostly suitable for volume measurement of small and medium-sized and opaque objects. large and low measurement accuracy. Contents of the invention [0005]...

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Problems solved by technology

[0006] For this reason, this application proposes a volume measurement method, device and storage medium based on binocular vision, which are used to solve the technical problems of large limitations and low measurement accuracy in the measurement method of object volume in the prior art

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