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A method and system for real-time three-dimensional reconstruction of bulk cargo stockpile

A real-time 3D and stockpile technology, applied in 3D modeling, image enhancement, image analysis, etc., can solve problems such as high cost of 3D reconstruction, complex point cloud processing, and inability to realize real-time reconstruction, so as to reduce difficulty and reduce cost Effect

Active Publication Date: 2021-11-12
WUHAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to overcome the above-mentioned technical deficiencies, provide a real-time three-dimensional reconstruction method and system for bulk cargo stockpiles, and solve the technical problems in the prior art that three-dimensional reconstruction costs are high and point cloud processing is complicated, which leads to the inability to realize real-time reconstruction

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  • A method and system for real-time three-dimensional reconstruction of bulk cargo stockpile
  • A method and system for real-time three-dimensional reconstruction of bulk cargo stockpile
  • A method and system for real-time three-dimensional reconstruction of bulk cargo stockpile

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Embodiment 1

[0020] Such as figure 1 As shown, Embodiment 1 of the present invention provides a real-time three-dimensional reconstruction method for a bulk cargo stockpile, hereinafter referred to as the three-dimensional reconstruction method, comprising the following steps:

[0021] S1, gradually scan the curve point cloud of each section of the stockpile to obtain the global static point cloud data of the stockpile;

[0022] S2. Dividing the global static point cloud data into multiple point cloud data segments;

[0023] S3. Obtain the local depth data of the stockpile in real time, and convert the depth data into local dynamic point cloud data;

[0024] S4. Perform real-time point cloud registration of the local dynamic point cloud data and the corresponding point cloud data segment to obtain a global real-time three-dimensional point cloud model of the stockpile.

[0025] In this embodiment, the depth data is acquired by a depth camera, and the conversion of the depth data into loc...

Embodiment 2

[0066] Such as figure 2 As shown, Embodiment 2 of the present invention provides a real-time three-dimensional reconstruction system for bulk cargo piles, including a two-dimensional scanner 3, an angle encoder 4, a stacker-reclaimer 1, a depth camera 2, and an industrial computer 5;

[0067] The two-dimensional scanner 3 and the angle encoder 4 are installed on the stacker-reclaimer 1 respectively, and are used to gradually scan the curve point cloud of each section of the stockpile 100 to obtain the global static point of the stockpile 100 cloud data;

[0068] The depth camera 2 is used to obtain local depth data of the stockpile 100 in real time, and convert the depth data into local dynamic point cloud data;

[0069] The industrial computer 5 is used for dividing the global static point cloud data into a plurality of point cloud data segments; performing real-time point cloud registration with the local dynamic point cloud data and the corresponding point cloud data segm...

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Abstract

The invention relates to the technical field of three-dimensional reconstruction of machine vision, and discloses a real-time three-dimensional reconstruction method of a bulk cargo stockpile, comprising the following steps: gradually scanning the curve point clouds of each section of the stockpile to obtain global static point cloud data of the stockpile; Divide the global static point cloud data into a plurality of point cloud data segments; obtain the local depth data of the stockpile in real time, convert the depth data into local dynamic point cloud data; combine the local dynamic point cloud data with Real-time point cloud registration is performed on the corresponding point cloud data segments to obtain a global real-time three-dimensional point cloud model of the stockpile. The invention has the technical effect of low cost and being suitable for real-time three-dimensional reconstruction of massive point cloud data in large scenes.

Description

technical field [0001] The invention relates to the technical field of machine vision three-dimensional reconstruction, in particular to a method and system for real-time three-dimensional reconstruction of a bulk cargo stockpile. Background technique [0002] With the increasing throughput of bulk cargo terminals and the rapid development of machine vision technology, the construction of automated bulk cargo terminals has always been a research hotspot at home and abroad. Automatic stacking and reclaiming of bulk cargo terminals is an important part of automated terminal technology. Automatic stacking and reclaiming mainly relies on 3D reconstruction technology. At present, 3D laser scanning devices are often used to scan and reconstruct the outline of material piles, but industrial 3D scanners The price is expensive, a floor-standing 3D scanner costs hundreds of thousands to more than one million, and each stacker-reclaimer needs to be equipped with a high cost, and due to...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/00
CPCG06T17/00G06T2207/10028
Inventor 王贡献彭彬孙晖袁建明胡勇胡志辉朱超
Owner WUHAN UNIV OF TECH