Method and system for determining visual information of operating space of actuating mechanism

Abstract

The invention relates to a method and a system for determining visual information of an operating space of an actuating mechanism. The method for determining the visual information comprises the following steps: acquiring a plurality of samples about the operating space of the actuating mechanism, wherein each sample comprises an optical image, a depth image and three-dimensional coordinates; establishing a visual information mapping model according to each sample; the method specifically comprises the following steps: for each sample, determining target pixel position information according toan optical image and a depth image of a target object; determining a binary mask image according to the target pixel position information; determining a visual information mapping model based on theoptical image, the depth image, the binary mask image and the three-dimensional coordinates of each target object; acquiring a to-be-measured optical image and a to-be-measured depth image of a to-be-measured target object; based on a visual information mapping model, quickly determining the three-dimensional coordinate information of the to-be-measured target object according to the to-be-measured optical image and the to-be-measured depth image.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to a method and system for determining visual information of an operating space of an actuator. Background technique [0002] Using as little visual information as possible to reconstruct the manipulation space of the actuator, such as the manipulator, is an important part of making the manipulator have the ability to perceive the manipulator's environment. In order to realize the position feedback and target detection of the robot through the camera, it is necessary to establish the coordinate mapping relationship between the camera coordinate system and the robot coordinate system, that is, visual information reconstruction. [0003] At present, there are generally two forms of visual information reconstruction: the camera is fixed to the end of the robot and the camera is fixed independently. It is difficult to reconstruct the traditional system with independent and fix...

AI Technical Summary

Problems solved by technology

In this case, the process of calibrating and solving equations is very complicated, and re-calibration is required after the camera position changes, the calibrating speed is slow, and the efficiency is low. sexual demands

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