Three-dimensional identification and positioning method for sheet metal parts based on PCL point cloud library

A sheet metal parts, three-dimensional technology, applied in the field of three-dimensional recognition and positioning of sheet metal parts, can solve the problems of missing information, two-dimensional image object recognition can not meet the requirements, etc., to achieve simple calculation, strong local feature description ability, The effect of improving efficiency

Pending Publication Date: 2020-03-27
BEIJING UNIV OF TECH
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Problems solved by technology

[0002] At present, there have been many research results on image-based object recognition, but the imaging process of two-dimensional images is mapped from three-dimensional space to two-dimensional space. This process will lose a lot of information, and a fact that cannot be ignored is that the best A com

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  • Three-dimensional identification and positioning method for sheet metal parts based on PCL point cloud library
  • Three-dimensional identification and positioning method for sheet metal parts based on PCL point cloud library
  • Three-dimensional identification and positioning method for sheet metal parts based on PCL point cloud library

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Embodiment Construction

[0022]In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. 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.

[0023] Below in conjunction with accompanying drawing, the present invention is described in further detail:

[0024] The hardware equipment used in the present invention has a PC; the auxiliary tools include VS2015, PCL point cloud library, and libsvm open source library.

[0025] like figure 1 As shown, the present invention provides a thr...

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Abstract

The invention discloses a three-dimensional identification and positioning method for sheet metal parts based on a PCL point cloud library. The three-dimensional identification and positioning methodcomprises the steps: obtaining a three-dimensional scene point cloud of an operation platform of a whole sheet metal part, carrying out the segmentation, and forming a point cloud cluster of each sheet metal part; calculating a local feature descriptor and a global feature descriptor of each point cloud cluster; performing feature-level fusion on the local feature descriptor and the global featuredescriptor of each point cloud cluster to obtain a fusion feature vector; inputting the fusion feature vector into a pre-trained SVM classifier for classification; solving an initial registration transformation matrix from point cloud clustering to point cloud model coarse registration; and determining an accurate transformation matrix conforming to the preset registration precision from the point cloud clustering to the point cloud model, and determining a pose information result of each sheet metal part according to the accurate transformation matrix. Through the technical scheme of the invention, the inaccuracy of two-dimensional image recognition is avoided, and the recognition efficiency and the positioning precision are greatly improved.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a three-dimensional recognition and positioning method for sheet metal parts based on a PCL point cloud library. Background technique [0002] At present, there have been many research results on image-based object recognition, but the imaging process of two-dimensional images is mapped from three-dimensional space to two-dimensional space. This process will lose a lot of information, and a fact that cannot be ignored is that the best A computer vision system should be oriented to a three-dimensional world. With the improvement of automation, the detection, grasping and processing of industrial parts have higher and higher requirements for computer vision systems, so object recognition based on two-dimensional images cannot meet the requirements. The acquisition of 3D point cloud data is very fast. At the same time, because the acquisition of 3D point cloud data is not a...

Claims

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Application Information

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IPC IPC(8): G06T7/73G06T7/33G06K9/62
CPCG06T7/75G06T7/344G06T2207/10028G06T2207/20081G06T2207/30164G06F18/23G06F18/2411G06F18/253
Inventor 沈琦周昔月
Owner BEIJING UNIV OF TECH
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