Handheld volume measuring device based on inertial equipment and camera

A technology of inertial equipment and volume measurement, which is applied in the direction of measuring devices, optical devices, instruments, etc., can solve the problems of high power consumption, increased cost of 3D cameras, inaccessibility, etc., and achieve the effect of low cost

Inactive Publication Date: 2020-06-30
深圳市异方科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • Handheld volume measuring device based on inertial equipment and camera
  • Handheld volume measuring device based on inertial equipment and camera
  • Handheld volume measuring device based on inertial equipment and camera

Examples

Experimental program
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Embodiment 1

[0051] The body implementation process is as follows:

[0052] Step 1: Calculate the camera relative pose between each frame of images

[0053] Step 2: Pre-integration of the inertial device between each frame of images

[0054] Step 3: Align the inertial device with the camera

[0055] Calculate pose and point cloud. One frame of data from a monocular color lens cannot estimate the depth data of an object, but multiple frames of data can be used to simulate the depth value of a color binocular lens. Such as figure 2 As shown, according to the imaging principle of the camera, point P can be projected onto point P1 of the image, and line segment C1-P can be projected onto the black straight line in the figure, which is the epipolar line.

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00
CPCG01B11/00
Inventor 邱鹏唐威成
Owner 深圳市异方科技有限公司
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