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Three-dimensional positioning system and method based on manipulator single-camera multi-view vision

A technology of three-dimensional positioning and multi-eye vision, which is applied to the details of processing steps, image data processing, instruments, etc., to achieve the effect of low cost, single hardware, and avoiding cracks

Pending Publication Date: 2019-11-29
CHINA RAILWAY FIRST SURVEY & DESIGN INST GRP
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  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a three-dimensional positioning system and method based on the multi-eye vision of the manipulator single camera to solve the problems existing in the existing three-dimensional positioning

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  • Three-dimensional positioning system and method based on manipulator single-camera multi-view vision

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Embodiment Construction

[0037] The technical solutions in the embodiments of the present invention will be further described below with reference to the drawings in the embodiments of the present invention, the purpose is only to better understand the content of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended as any limitation of the invention, its application or uses. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0038] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application.

[0039] The re...

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Abstract

The invention relates to a three-dimensional positioning system and a method based on manipulator single-camera multi-view vision, and the system is characterized in that an image collection device inthe system consists of a manipulator and an industrial camera installed on a flange plate at the front end of the manipulator, and is used for controlling the posture of the industrial camera and collecting the image of a measured object; an industrial control computer in the system is used for controlling a manipulator to move and receiving images collected by an industrial camera, synthesizingmulti-angle two-dimensional measured images into a three-dimensional point cloud image, and carrying out three-dimensional positioning on a measured object through a deep learning algorithm. Accordingto the system, a single industrial camera is adopted to form a multi-view hardware system, and the hardware system is simple; the multi-view imaging source is a camera, the internal parameters of thecamera are consistent, and the calibration problem caused by different internal parameters of multiple cameras is avoided; multi-angle shooting is completed by the manipulator, the flexibility is good, and the repeated precision is high.

Description

technical field [0001] The invention relates to a three-dimensional positioning method of a visible object, in particular to a three-dimensional positioning system and method based on a manipulator single-camera multi-eye vision. Background technique [0002] At present, there are usually the following methods for three-dimensional positioning of target objects. The first one is based on monocular vision three-dimensional positioning. As the name implies, monocular vision positioning is to use only one camera to complete the positioning work. It has a wide range of features, but requires geometric constraints between target points, and the application scenario is single and fixed, which is not suitable for complex and changeable application scenarios. [0003] The second is the binocular vision three-dimensional positioning method. The binocular vision positioning principle refers to positioning the three-dimensional space position of the target object through the principle ...

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Application Information

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IPC IPC(8): G06T7/80G06T7/13G06T5/20G06T17/00
CPCG06T7/85G06T7/13G06T5/20G06T17/00G06T2207/20164G06T2200/08G06T2207/10028
Inventor 史时喜段晓宏蒋杰赵留辉刘志勇丁子全胡平马森月
Owner CHINA RAILWAY FIRST SURVEY & DESIGN INST GRP
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