Measurement method of object rotation angle and translation distance based on monocular vision
A rotation angle, monocular vision technology, applied in measurement devices, image analysis, instruments, etc., can solve problems such as misalignment, skewed object placement, etc., to achieve less time-consuming, wide application prospects, and low dependence on detection devices. Effect
Active Publication Date: 2022-01-07
NANJING UNIV OF SCI & TECH
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[0004] The purpose of the present invention is to provide a method for measuring the rotation angle and translation distance of an object based on monocular vision, so as to solve the detection method of skewed and dislocated objects in the storage system
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[0020] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0021] Such as figure 1 As shown, a method for measuring the rotation angle and translation distance of an object based on monocular vision, the specific steps are as follows:
[0022] Step 1. Adjust the field of view of the camera to ensure that the three sides of the detected rectangular object that can form a vertex and the vertex formed by these three sides can be seen in the field of view. Then calibrate the distance coefficient K: use a ratio that is the same as the ratio of the lens imaging to 4:3 cardboard, then adjust the distance between the cardboard and the lens so that the cardboard just fills the entire picture, record the distance L between the cardboard and the lens, the cardboard The height H of the camera, let the angle between the main axis of the lens and the border of the cardboard be α, L' is the distance between the cardboard and the l...
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The invention discloses a method for measuring the rotation angle and translation distance of an object based on monocular vision. The method uses Hough transform to detect the straight line edge of a rectangular object, and outputs the angle of the straight line after Hough transform. By comparing the non-deflection angle of the object When the original angle value and the angle output value of the object have a certain deflection angle, the angle difference between the two can be obtained, so as to determine the deflection angle of the object; the vertex coordinates of the rectangular object in the field of view are calculated according to the mathematical method, and the coordinates are compared with the object Comparing the original vertex coordinate values without offset, the offset distance value of the object is calculated by trigonometric functions. The invention uses the combination of monocular vision and Hough transform to measure the rotation angle and translation distance of the object, which can be used for the placement of the conveying boxes in the storage system; the measurement method does not need complex calculations, takes less time, has a high degree of automation, and is easy to operate .
Description
technical field [0001] The invention belongs to the field of position and posture detection of storage objects, and in particular relates to a method for measuring object rotation angle and translation distance based on monocular vision. Background technique [0002] With the development of e-commerce, new requirements are put forward for the warehousing, storage, management, and outbound supervision of items. How to efficiently and accurately transport items in the warehouse is the key to the rapid operation of the warehouse management system. In the warehousing and logistics system, the goods are usually packed in the delivery box, usually the delivery box will be neatly stored on the designated position of the shelf, but sometimes the delivery box will deviate from the designated position or placement angle due to machine errors and other reasons Some skewing occurs. The above situation will bring difficulties to the management and statistics of the warehouse, and affect...
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IPC IPC(8): G01B11/02G01B11/26G06T7/80
CPCG01B11/02G01B11/26G06T7/80
Inventor 卜雄洙朱宇韩宋扬谷世举张新磊赵振南
Owner NANJING UNIV OF SCI & TECH