Visual positioning method, application and precision evaluation method for object with edge features only
A visual positioning and edge technology, applied in the field of structured light measurement, can solve the problems of edge test point offset and inaccurate positioning, and achieve high-precision positioning
Active Publication Date: 2020-12-15
易思维(杭州)科技有限公司
View PDF4 Cites 2 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0003] In order to solve the above problems, the present invention provides a visual positioning method for objects with only edge features, which uses the idea of optimization to improve the existing positioning method, and effectively solves the problem of offset of edge test points and inaccurate positioning. Accurate questions for improved visual positioning accuracy
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0036] The technical scheme of the present invention will be described in detail with reference to the following drawings and specific embodiments.
[0037] A visual positioning method for an object with only edge features, wherein at least two edges which are not on the same straight line are formed on the surface of the object with only edge features; Comprise that following specific step:
[0038] The multi-line structured light sensor is used to detect the different test positions of the standard workpiece, and the test results include at least three points on the edge of the same straight line (the three-dimensional coordinates of the points in the test results can monitor the deviation of the workpiece along the three directions of X, Y and Z and the rotation around the three axes of X, Y and Z (that is, it conforms to the principle of point selection in 321)). Before the test, calibrate the auxiliary linear equations of each test position and the three-dimensional coordinat...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a visual positioning method for an object with edge features only. The method comprises the steps: enabling a multi-line structured light sensor to detect a standard workpiece,and calibrating standard data; during testing, through the multi-line structured light sensor, respectively acquiring three-dimensional coordinates of each test point on an actual measurement workpiece and recording the three-dimensional coordinates as actual measurement data; calculating a rotation translation matrix based on the calibrated three-dimensional coordinates and the actual measurement data; rotating and translating each auxiliary straight line in the standard data, and recording intersection points between the auxiliary straight lines and respective corresponding reference lightplanes into a calibration point set; taking the the actual measurement data and the distance between the corresponding points in the calibration point set as a target function, and obtaining an optimal rotation translation matrix meeting convergence conditions through iteration by means of an optimization method; and compensating the optimal rotation translation matrix to the coordinate of each test point in the calibration process to obtain the position of the current workpiece, and completing positioning. According to the method, the problems of edge test point offset and inaccurate positioning are effectively solved, and the accuracy of visual positioning is improved.
Description
Technical field [0001] The invention relates to the field of structured light measurement, in particular to a visual positioning method, application and accuracy evaluation method for an object with only edge features. technical background [0002] In the field of active vision measurement, structured light measurement is a common measurement method, among which the most widely used one is the line laser feature, which projects a laser stripe onto the measured object through a line laser, collects the image of the stripe by an image acquisition device, and obtains the three-dimensional information of the measured object through image analysis. When using a line structured light sensor for visual positioning, it is necessary to select the features of the measured object and extract the features to obtain the three-dimensional information, thus realizing visual positioning. In actual use, Vision positioning is often used in the field of vision guidance or automatic processing and a...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00
CPCG01B11/002
Inventor 郭寅尹仕斌刘海庆李晓飞
Owner 易思维(杭州)科技有限公司