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Electric welding spot binocular vision positioning method and device based on shape descriptor

A technology of binocular vision positioning and shape description, applied in the field of binocular vision

Pending Publication Date: 2020-10-30
TAICANG INST OF OPTO ELECTRONICS TECH +1
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Problems solved by technology

[0004] Aiming at the above defects in the prior art, the main purpose of the present invention is to overcome the deficiencies of the prior art, and discloses a method and device for binocular vision positioning of electric welding spot based on shape descriptors, so as to solve the real-time problem of the source of welding fumes. The problem of spatial positioning

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  • Electric welding spot binocular vision positioning method and device based on shape descriptor
  • Electric welding spot binocular vision positioning method and device based on shape descriptor
  • Electric welding spot binocular vision positioning method and device based on shape descriptor

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[0061] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0062] see Figure 1-8 A method for binocular vision positioning of electric welding spots based on shape descriptors provided by the present invention comprises the steps of:

[0063] S1, camera calibration, obtains the internal and external parameters of each camera module and the structural parameters between the dual camera modules.

[0064] The parameters that need to be calibrated include the following photogrammetric collinear equations: internal parameter f x ,f y ,u 0 ,v 0 and external parameters R,T:

[0065]

[0066] Among them, (X w ,Y w ,Z w ) is the coordinate of point P i...

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Abstract

The invention discloses an electric welding spot binocular vision positioning method and device based on a shape descriptor. The method includes: fitting an external rectangle through camera calibration, image acquisition, image preprocessing and fitting, enabling edges of the rectangle to be parallel to rows and columns of the image respectively, and extracting pixel centroid coordinates of a left image target area and edge length and area of the external rectangle to form a left shape descriptor; in the right image, carrying out three-dimensional matching of shape features based on epipolarconstraint, and calculating three-dimensional space coordinates of the target under a camera coordinate system; carrying out rigid body transformation estimation, carrying out point cloud registrationt based on the ICP principle, and calculating three-dimensional space coordinates of the target in a world coordinate system. Based on connectivity of a target area, an external rectangle is fitted, sub-pixel centroid coordinates and area of the target area of an image and the side length of the external rectangle are extracted as shape descriptors, feature stereo matching is performed, and the stability problem of feature extraction and description under the severe conditions of weak texture, poor illumination conditions, large strong light reflection and the like can be effectively solved.

Description

technical field [0001] The invention relates to the field of binocular vision, in particular to a method and device for binocular vision positioning of electric welding spot based on shape descriptors. Background technique [0002] Binocular visual space positioning technology is an important non-contact three-dimensional measurement technology developed based on computer vision, that is, two camera modules in different positions simultaneously capture target images, and calculate the three-dimensional space coordinates of the target according to the principle of triangulation. Binocular vision spatial positioning technology has the advantages of fast measurement speed, good real-time performance, and simple structure, and has been widely used in production and life. Most of the existing binocular devices perform feature matching based on the texture information of the target during the measurement process, or use line laser or structured light for auxiliary positioning for ...

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Application Information

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IPC IPC(8): G06T7/62G06T7/73G06T7/80G06T5/00G06T5/30
CPCG06T7/73G06T7/62G06T7/80G06T5/30G06T5/80G06T5/70
Inventor 代作晓郭光智龙波王晓辉
Owner TAICANG INST OF OPTO ELECTRONICS TECH
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