A method and terminal for measuring the volume of an object

An object and volume technology, applied in the field of volume measurement, can solve the problem of inability to find objects with depth data, and achieve the effect of accurate depth data and accurate volume of objects

Active Publication Date: 2021-09-24
SHENZHEN UROVO TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a method and terminal for measuring the volume of an object in view of the defect that the object cannot be accurately found in the depth data when there are other objects around the object.

Method used

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  • A method and terminal for measuring the volume of an object
  • A method and terminal for measuring the volume of an object
  • A method and terminal for measuring the volume of an object

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no. 2 example

[0059] The second embodiment, on the basis of the first embodiment, see figure 2 , figure 2 It is a flow chart of the method for measuring the volume of an object in the second embodiment of the present invention. Specifically, in step S1: aligning the RGB data captured by the RGB camera and the depth data captured by the depth camera to the same coordinates, which includes:

[0060] S1-1: Receive multiple checkerboard pictures from different viewing angles taken by the RGB camera, use OpenCV or Matlab software to process the pictures, and calculate the external parameters of the RGB camera corresponding to each picture; where the external parameters include: the first rotation matrix R 1 and the first translation matrix t 1 . The external parameter is the rotation and translation relationship between the world coordinate system and the camera coordinate system, expressed as: Among them, the first rotation matrix R 1 is a 3*3 orthogonal identity matrix, R 1 The i-th ro...

no. 1 example

[0072] The present invention also constructs a terminal for measuring the volume of an object, see image 3 , image 3 It is a block diagram of a terminal for measuring the volume of an object in the first embodiment of the present invention. In the first embodiment, it includes: an RGB camera and a depth camera, and also includes:

[0073] The alignment module is used to align the RGB data captured by the RGB camera and the depth data captured by the depth camera to the same coordinates;

[0074] The data acquisition module is used to obtain the RGB data of the object photographed by the RGB camera and the depth data of the object photographed by the depth camera simultaneously after being aligned;

[0075] The edge detection template is used to extract object edge information according to the RGB data obtained by the data acquisition module;

[0076] The edge pixel coordinate acquisition module is used to acquire the corresponding object edge pixel coordinates according to...

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Abstract

The invention discloses a method and terminal for measuring the volume of an object. For the RGB camera and the depth camera, the volume measurement of the object is realized according to the following steps: S1: Align the RGB data captured by the RGB camera and the depth data captured by the depth camera to the same coordinates ; S2: Obtain the RGB data of the object captured by the RGB camera and the depth data of the object captured by the depth camera after alignment; S3: Extract the object edge information according to the obtained RGB data; S4: Acquire the corresponding object edge pixels according to the object edge information Coordinates; S5: Extract the corresponding edge depth data from the depth data according to the object edge pixel coordinates; S6: Calculate the 3D point cloud data through the extracted edge depth data; S7: Calculate the volume of the object based on the 3D point cloud data. By physically aligning the RGB camera and the depth camera, the present invention integrates the photographing methods of the RGB camera and the depth camera, so that the edge of the object can be found more accurately, and the volume of the object can be calculated more accurately.

Description

technical field [0001] The invention relates to the technical field of volume measurement, in particular to a method and terminal for measuring the volume of an object. Background technique [0002] With the progress of society and the development of science and technology, the express logistics industry is becoming increasingly busy, and couriers need to measure the volume of goods conveniently, so volume detection technology has emerged as the times require. Currently, the depth data obtained by shooting objects through the depth camera can calculate the volume of the object, but in the actual use scene, there will be various interferences. When there are other objects around the object, it cannot be accurately found out based on the depth data. The boundary of the object to calculate the volume of the object. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a method and terminal for measuring the volume of an ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/13G06T7/181G06T7/33G06T7/50G06T5/00G06T5/50G01B11/00
CPCG01B11/00G01B11/002G06T5/003G06T5/50G06T2207/10024G06T2207/10028G06T2207/20221G06T7/13G06T7/181G06T7/33G06T7/50
Inventor 罗林张波郭颂
Owner SHENZHEN UROVO TECH CO LTD
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