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Visual positioning three-dimensional point cloud segmentation method

A 3D point cloud and visual positioning technology, applied in the field of visual positioning, can solve problems such as inapplicable segmentation, and achieve the effect of improving the accuracy of recognition and positioning and reasonable design

Active Publication Date: 2020-05-12
WUHU HIT ROBOT TECH RES INST
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Problems solved by technology

This patent solution is dedicated to the segmentation of box-like objects, and cannot be applied to the segmentation of circular barrels or circular barrel-like objects

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  • Visual positioning three-dimensional point cloud segmentation method
  • Visual positioning three-dimensional point cloud segmentation method
  • Visual positioning three-dimensional point cloud segmentation method

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Embodiment Construction

[0030] The specific implementation manner of the present invention will be described in further detail below by describing the embodiments with reference to the accompanying drawings.

[0031] The visual positioning 3D point cloud segmentation method solves the problem that the traditional method (circle or ellipse detection) cannot realize the complete recognition of the object-low recognition rate after the laser radar sensor obtains the 3D point cloud information; Recognition but low positioning accuracy - big positioning error problem.

[0032] The visual positioning 3D point cloud segmentation method includes the following steps:

[0033] S1: The robot carries a 3D laser sensor to obtain the 3D point cloud information of the workpiece;

[0034] S2: Utilize the PCL point cloud library to realize the processing work such as filtering, sampling and smoothing of the point cloud, and remove the z-axis distance of the point cloud (it is uniformly set to 0);

[0035] S3: use t...

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Abstract

The invention discloses a visual positioning three-dimensional point cloud segmentation method. A robot carries a three-dimensional laser sensor to obtain three-dimensional point cloud information ofworkpieces. The mathematical relationship between the centers of the workpieces is achieved through the peripheral density of point clouds, the segmentation mode between the workpieces is successfullydeduced, segmentation between two circular or quasi-circular objects is successfully achieved, and the recognition and positioning accuracy of the connected circular or quasi-circular workpieces canbe improved. The problems that after three-dimensional point cloud information is obtained, complete recognition of an object cannot be achieved through circular or elliptical detection in a traditional mode, the recognition rate is low, and the positioning error is large are solved.

Description

technical field [0001] The invention relates to the technical field of visual positioning, in particular to a three-dimensional point cloud segmentation method for connected circular or quasi-circular workpieces. Background technique [0002] At present, when using robots to load and unload round or quasi-circular barrels in factories, it is necessary to obtain accurate positioning from external equipment. Although two-dimensional machine vision can provide accurate positioning of barrels under certain conditions, the industrial site is affected by light Due to the influence of many factors such as dust and dust, its positioning is very limited, and solid 3D machine vision is applied here; but after the laser radar sensor obtains 3D point cloud information, the traditional method (circle or ellipse detection) cannot realize the object's positioning. Complete recognition - the problem of low recognition rate and low positioning accuracy. [0003] For example, a box-type poin...

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Application Information

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IPC IPC(8): G06T7/10G06T5/30
CPCG06T7/10G06T5/30G06T2207/10028Y02P90/30
Inventor 王磊樊璇陈健高云峰曹雏清
Owner WUHU HIT ROBOT TECH RES INST
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