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Point cloud-based target object three-dimensional computer modeling method and target recognition method

A target object and modeling method technology, applied in the field of point cloud-based 3D target recognition method and parts sorting system, can solve problems such as difficult to achieve ideal results and unsatisfactory 3D data accuracy, and achieve easy and rapid modeling , reduce the amount of calculation, and facilitate the identification of the effect of the comparison

Pending Publication Date: 2020-03-31
MEGVII BEIJINGTECH CO LTD
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Problems solved by technology

The method based on 3D local feature descriptors is difficult to achieve ideal results when the target features are not obvious or the accuracy of the acquired 3D data is not ideal.

Method used

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  • Point cloud-based target object three-dimensional computer modeling method and target recognition method
  • Point cloud-based target object three-dimensional computer modeling method and target recognition method
  • Point cloud-based target object three-dimensional computer modeling method and target recognition method

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Embodiment Construction

[0093] Embodiments according to the present invention will be described in detail below with reference to the drawings. When the description refers to the drawings, the same reference numerals in different drawings indicate the same or similar elements unless otherwise indicated. It should be noted that the implementations described in the following exemplary embodiments do not represent all implementations of the present invention. They are merely examples of apparatuses and methods consistent with aspects of the disclosure as recited in the claims, and the scope of the invention is not limited thereto. On the premise of no contradiction, the features in the various embodiments of the present invention can be combined with each other.

[0094] In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, th...

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Abstract

The invention provides a point cloud-based target object three-dimensional computer modeling method, a point cloud-based three-dimensional target recognition method and a part sorting system. The modeling method comprises the steps of obtaining point cloud data of a target object; adaptively extracting sample points in a preset number range, and selecting an effective sample point combination as amodel point pair according to the relative position relationship of the sample points; and calculating enhanced feature descriptors of the model point pairs, calculating hash values of the model point pairs according to the feature descriptors, and generating a point cloud model of the target object according to the hash values of all the model point pairs. The method can be used for calculationequipment to automatically generate digital model representation of the object according to the three-dimensional target data, and a novel three-dimensional object industrial digital model which is easy and quick to model, is not limited by the form of the target object and is convenient to identify and compare is formed.

Description

technical field [0001] The invention relates to the technical fields of image processing and industrial automation, in particular to a point cloud-based three-dimensional computer modeling method for a target object, a point cloud-based three-dimensional target recognition method and a parts sorting system. Background technique [0002] At present, with the development of artificial intelligence (AI) technology and computer vision technology, intelligent automatic sorting of industrial parts is gradually becoming possible in industrial production, and the maturity of technology is also continuously improving. Intelligent sorting first needs to rely on AI technology and computer vision to identify and locate the position and posture of the target, and then use the robot to grab the target and place it in the designated position. Intelligent sorting is one of the key technologies for factories to improve productivity and save labor costs. Under the current technical condition...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/20G06K9/00
CPCG06T17/20G06V20/64
Inventor 鲁荣荣付兴银刘骁李广
Owner MEGVII BEIJINGTECH CO LTD
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