A Workpiece Pose Recognition Method Based on Quadratic Surface Features

Abstract

The invention discloses a workpiece pose recognition method based on quadratic surface features. The method includes: dividing the quadratic surface from the model, calculating the characteristic parameters and centroid distance of the quadratic surface, setting the type of the quadratic surface as a vertex, The spatial geometric relationship is set as the weight of the edge, and the model subgraph is constructed; the quadratic surface is segmented from the scene point cloud, and the characteristic parameters of each quadratic surface are calculated, and the quadratic surface type is set as the vertex, and the centroid distance satisfies the setting The vertex pair of the condition is connected to the edge, and the confidence degree of the spatial geometric relationship is set as the weight of the edge to construct the scene master graph; through the matching of the scene master graph and the model subgraph, the corresponding quadratic surface is found; the pairwise corresponding The quadratic surface undergoes spatial geometric transformation to obtain the rigid transformation matrix of the model for each target object in the scene. The invention can quickly and accurately identify the poses of multiple workpieces in the scene at the same time, and is applicable to the situation where different parts are stacked in the same scene.

Description

technical field [0001] The invention relates to the fields of intelligent manufacturing and robot control, in particular to a workpiece pose recognition method based on quadric surface features. Background technique [0002] In modern manufacturing, assembly is an indispensable link and the production process that takes the most time. Realizing intelligent assembly of robots is the key to improving production efficiency. In the process of "pick-and-place" in the box, industrial robots encountered When it comes to the recognition of scattered and stacked workpieces, it is often powerless. Therefore, the pose recognition information is the key to guide the robot arm to pick up. Most of the existing pose estimation methods are based on local feature matching, such as SHOT, FPFH, PFH, 3DSC, etc. , they find the paired points with the same characteristics from the model and the scene, and calculate the rigid transformation matrix of the model for the target object in the scene, s...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the defects and deficiencies existing in the prior art, the present invention provides a workpiece pose recognition method based on quadratic surface features, which solves the pose recognition problem of most industrial parts and can quickly and accurately recognize the The pose of multiple workpieces, and it is suitable for stacking different parts in the same scene, and the result is not affected by noise

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