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Goods positioning method, device, system and computer readable storage medium

A positioning method and positioning device technology, applied in the field of image processing, can solve the problems of low cargo recognition rate and low stability of cargo positioning

Active Publication Date: 2020-08-28
北京阿丘机器人科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The main purpose of the present invention is to provide a cargo positioning method, device, system and computer-readable storage medium, aiming to solve the technical problems of low cargo positioning stability and low cargo recognition rate in existing image positioning methods

Method used

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  • Goods positioning method, device, system and computer readable storage medium
  • Goods positioning method, device, system and computer readable storage medium
  • Goods positioning method, device, system and computer readable storage medium

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Embodiment Construction

[0034] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0035] The invention provides a method for locating goods, referring to figure 1 , figure 1 It is a schematic flowchart of the first embodiment of the cargo positioning method of the present invention.

[0036] The embodiment of the present invention provides an embodiment of the cargo positioning method. It should be noted that although the logical sequence is shown in the flow chart, under certain data, the sequence shown or described steps.

[0037] Cargo positioning methods include:

[0038] Step S10, collecting images of goods to be positioned, and segmenting the collected images through ordered point clouds to obtain images to be positioned.

[0039] The positioning method of goods is applied to the robotic arm. The robotic arm includes at least a vision system. The vision system collects the goods to be pos...

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Abstract

The invention discloses a goods positioning method, a device, a system and a computer readable storage medium. The method comprises the steps: collecting an image of a to-be-positioned goods, carryingout the segmentation of the collected image through an ordered point cloud, and obtaining a to-be-positioned image; inputting a to-be-positioned image into the image positioning model to obtain an angular point segmentation image and a position sensitive segmentation image corresponding to the to-be-positioned image; and based on the image positioning model, determining the position of the to-be-positioned goods according to the corner segmentation map and the position sensitive segmentation map. According to the invention, the collected image is segmented through the ordered point cloud, theobtained to-be-positioned image is input into the image positioning model, and the position of the to-be-positioned goods is determined according to the angular point segmentation image and the position sensitive segmentation image output by the image positioning model, so that the goods positioning stability and the goods recognition rate are improved.

Description

technical field [0001] The present invention relates to the technical field of image processing, in particular to a cargo positioning method, device, system and computer-readable storage medium. Background technique [0002] At present, image positioning methods include a rectangular positioning method based on Hough (Hough transform) line detection and a patmax (image position search) template matching positioning method. The rectangle positioning method based on Hough line detection is to detect relatively long straight line segments in the image, and then locate the corner points of the rectangle through the intersection points of the straight line segments, and then locate the rectangle through the corner points of the rectangle, because there are usually slits, ropes and Tape and other linear textures, and the rectangular positioning method is extremely susceptible to interference from linear textures, resulting in wrong results. The patmax template matching positionin...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/32G06K9/62G06T7/11G06T7/70G06T7/90G06T11/40
CPCG06T7/70G06T7/11G06T7/90G06T11/40G06T2207/10028G06T2207/30204G06V20/10G06V10/25G06F18/24G06F18/214Y02P90/30
Inventor 黄耀陈天玓孙超
Owner 北京阿丘机器人科技有限公司
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