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Three-dimensional modeling method and device based on point cloud image and robot

A technology of 3D modeling and point cloud images, which is applied in the field of 3D modeling, can solve the problems of lack of versatility and achieve the effects of enhancing versatility, improving accuracy and expanding the scope of application

Active Publication Date: 2019-07-26
武汉库柏特科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, point cloud images can be used to construct 3D models of materials, but complex algorithms are often only used for a specific type of materials, which has certain accuracy but lacks versatility

Method used

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  • Three-dimensional modeling method and device based on point cloud image and robot
  • Three-dimensional modeling method and device based on point cloud image and robot
  • Three-dimensional modeling method and device based on point cloud image and robot

Examples

Experimental program
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Embodiment 1

[0029] Such as figure 1 As shown, a method for three-dimensional modeling based on point cloud images according to an embodiment of the present invention, the method includes: obtaining the first point cloud image of the material in the preset reference pose and the material from the preset reference pose to the target measurement position Multiple second point cloud images of multiple postures; when the sum of the first point cloud image and the number of second point cloud images does not meet the preset number, reacquire the first point cloud image and multiple second point cloud images until the second point cloud image The sum of one point cloud image and multiple second point cloud images meets the preset number; when the sum of the first point cloud image and multiple second point cloud images meets the preset number, the first point cloud image Determine the first 3D point cloud set in the method, and determine the corresponding second 3D point cloud set from each seco...

Embodiment 2

[0052] Such as image 3 As shown, a 3D modeling device based on a point cloud image according to an embodiment of the present invention includes: an image acquisition module, a reacquisition module, an image processing module and a 3D modeling module.

[0053] The image acquisition module is used to obtain the first point cloud image of the material in the preset reference pose and multiple second point cloud images from the preset reference pose to the target measurement pose;

[0054] Reacquisition module, used to reacquire the first point cloud image and multiple second point cloud images until the first point cloud image The sum of the number of frames and multiple second point cloud images meets the preset number of frames;

[0055] The image processing module is used to determine the first three-dimensional point cloud set from the first point cloud image when the sum of the number of the first point cloud image and the number of second point cloud images satisfies the ...

Embodiment 3

[0072] Such as Figure 5 As shown, a robot is used to obtain the first point cloud image of the material in the preset reference pose and multiple second point cloud images from the preset reference pose to the target measurement pose; when the first point cloud image and multiple When the sum of the number of the second point cloud image does not meet the preset number, re-acquire the first point cloud image and multiple second point cloud images until the sum of the first point cloud image and multiple second point cloud images meets the preset number. Set the number of frames; when the sum of the first point cloud image and the number of second point cloud images meets the preset number of frames, determine the first three-dimensional point cloud set from the first point cloud image, and determine the first three-dimensional point cloud set from each second point cloud image respectively Determine the corresponding second 3D point cloud set; perform 3D modeling on the mater...

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Abstract

The invention relates to a three-dimensional modeling method and device based on a point cloud image and a robot. The method comprises: acquiring a first point cloud picture of a material in a presetreference pose and a plurality of second point cloud pictures of the material from the preset reference pose to a target measurement pose; when the sum of the amplitudes of the first point cloud picture and the plurality of second point cloud pictures does not meet the preset amplitude, re-acquiring the first point cloud picture and the plurality of second point cloud pictures until the sum of theamplitudes of the first point cloud picture and the plurality of second point cloud pictures meets the preset amplitude; when the sum of the amplitudes of the first point cloud picture and the plurality of second point cloud pictures satisfies a preset amplitude, determining a first three-dimensional point cloud set from the first point cloud picture, and determining a corresponding second three-dimensional point cloud set from each second point cloud picture; and carrying out three-dimensional modeling on the material according to the first three-dimensional cloud set and all the second three-dimensional point cloud sets to obtain a material three-dimensional model. The method and device are helpful for improving the construction accuracy of the material three-dimensional model, expanding the application range and enhancing the universality.

Description

technical field [0001] The invention relates to the technical field of three-dimensional modeling, in particular to a method, device and robot for three-dimensional modeling based on point cloud images. Background technique [0002] With the continuous development of machine vision technology and robots, it has been applied to workpiece manipulation in logistics, 3C and other fields, such as: guiding various materials within the field of view of the camera, and the accuracy and accuracy of the three-dimensional model of the material for robot manipulation of the workpiece very important. [0003] At present, point cloud images can be used to construct 3D models of materials, but complex algorithms are often only used for a specific type of materials, which has certain accuracy but lacks versatility. Contents of the invention [0004] Aiming at the lack of versatility of the 3D construction method based on point cloud images in the prior art, the present invention provides...

Claims

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Application Information

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IPC IPC(8): G06T17/00
CPCG06T17/00G06T2200/08
Inventor 李淼闫琳张少华付中涛岳珍马天阳李勇房小立
Owner 武汉库柏特科技有限公司