Pose recognition method and system based on structured light and AprilTag
A recognition method and structured light technology, applied in character and pattern recognition, instruments, computer parts, etc., can solve problems such as misalignment and skewed object placement, and achieve high work efficiency, fast response speed, and accurate positioning.
Pending Publication Date: 2021-02-12
南京音飞储存设备(集团)股份有限公司
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Problems solved by technology
[0005] The purpose of the present invention is to provide a pose recognition method and system based on structured light and AprilTag tags to solve the technical problems of skewed and dislocated objects in the storage system
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[0032] In order to describe the technical content of the present invention in detail, to achieve the purpose and effects, the following will be described in detail in conjunction with the embodiments and accompanying drawings.
[0033] Please combine figure 1 and figure 2 As shown, the present invention provides a pose recognition system based on structured light and AprilTag tags, including a monocular camera, a projection device, an AGV car, an image processing module circuit, a central control module circuit board, and a power supply module. Among them, the projection device projects the ApriTag tag image onto the surface of the object to be detected, and the camera collects the ApriTag image and then performs clear processing on it so as to determine the spatial pose of the object; the camera and the image processing module circuit are integrated together, and the camera After the AprilTag is recognized, the image processing module clears the recognized tag image, then r...
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The invention discloses a pose recognition method and system based on structured light and an AprilTag label. The system comprises a monocular camera, a projection device, an AGV, an image processingmodule circuit, a central control module circuit board, a power supply module and the like. The monocular camera and the projection device form a structured light system, the structured light system;the structured light system, the image processing module circuit, the central control module circuit board, the power supply module and the like are all installed on the AGV, and the projection deviceand the monocular camera are aligned with an object to be measured. A projection device in the structured light system projects an image of an AprilTag label onto the surface of an object, and a monocular camera obtains the position information of the AprilTag, namely the position information of the object, by identifying the AprilTag label, so that the rotation angle and the translation distanceof the object are measured. The method for measuring the rotation angle and the translation distance of the object solves the problem that an AprilTag label cannot be pasted due to the problem of thesurface shape of the object in an actual application scene, has better real-time performance, is accurate in positioning, high in response speed and high in working efficiency, and is well matched with other intelligent equipment.
Description
technical field [0001] The invention belongs to the field of machine vision detection, and relates to a pose recognition method and system based on structured light and AprilTag. 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 the normal operation of the warehouse. [0003] In order ...
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Login to View More IPC IPC(8): G06K9/00G06K9/36G06K9/34
CPCG06V20/56G06V10/20G06V10/247G06V10/267
Inventor 金跃跃赵振南
Owner 南京音飞储存设备(集团)股份有限公司