Handheld volume measuring device based on inertial equipment and camera

Abstract

The invention relates to the technical field of object volume measurement, and concretely relates to a handheld volume measuring device based on inertial equipment and a camera. The method comprises the following steps: 1, continuously acquiring images of a measured object through a monocular camera; 2, using continuous images of the measured object to calculate the motion between a front frame and a rear frame, i.e., the pose of the camera; 3, calculating the pre-integration of the inertial equipment between two continuous frames of images to obtain the attitude of the inertial equipment of the two frames of images; 4, aligning the camera with the inertial equipment, recovering the camera scale, and realizing initialization of an inertial vision system; 5, after the inertial vision systemis initialized, calculating a point cloud through the two continuous frames of images; 6, fitting a ground plane in the obtained point cloud and removing ground points in the point cloud so as to obtain a target point cloud; and 7, calculating the minimum external cuboid of the target point cloud relative to the ground plane so as to obtain the length, width, height and volume of the measured object.

Description

technical field [0001] The invention relates to the technical field of object volume measurement, in particular to a hand-held volume measurement device based on an inertial device and a camera. Background technique [0002] Existing solution 1: Use a tape measure to directly measure the length, width and height of the object, and then calculate its volume [0003] Existing solution 2: use 3D; the camera obtains the point cloud of the goods for measurement [0004] Application Scenario 1: Express delivery and logistics measure the volume of the goods when they collect them. [0005] Explanation: In the express delivery and logistics industry, sometimes it is necessary to charge according to the volume of the object, so it is necessary to measure the volume of the collected goods. [0006] Application Scenario 2: Warehousing and transportation of goods. [0007] Explanation: During the storage, transportation and loading of goods, the customer needs to know whether the nex...

AI Technical Summary

Problems solved by technology

[0009] Disadvantages: Contact measurement will touch the surface of the object, such as toxic items, which cannot be touched; or cannot reach the object to be measured, such as the goods on the other side of the railing

[0011] Disadvantage: Compared with the present invention, the cost of 3D camera and corresponding fixing tools is increased

The camera is bulky and it is difficult to make it embedded

High power consumption, handheld embedded devices generally do not have much power

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