Industrial camera and depth camera combined three-dimensional positioning method, device and system
A technology of industrial cameras and depth cameras, which is applied in computer parts, character and pattern recognition, image data processing, etc., can solve the problems of lack of three-dimensional information, cumbersome process, low detection efficiency and other problems in the positioning of two-dimensional feature matching, and achieve improvement Test the effect of timeliness and accuracy
Pending Publication Date: 2021-04-16
SUZHOU JIANGAO OPTOELECTRONICS TECH
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Problems solved by technology
In the current method, manual detection is time-consuming and laborious, and the detection effect is not ideal. The positioning based on two-dimensional feature matching lacks the support of three-dimensional information, and requires the cooperation of personnel or three-dimensional detection equipment.
However, the line laser scanning method used in 3D information collection has poor immediacy; visible structured light is easily interfered by external light and is not suitable for complex use environments; point laser ranging requires two-dimensional matching and depth detection. One step is carried out, the process is cumbersome, and the detection efficiency is not high
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Embodiment 1
[0036] This embodiment introduces a three-dimensional positioning system, refer to image 3 As shown, the system includes an industrial camera, a depth camera, and a host computer; the industrial camera and the depth camera respectively collect the plane coordinates, relative angle information, and relative height information of the scene where the object to be measured is located when the optical axes are parallel to each other, and transmit them to Host computer: The host computer locates the object to be measured according to the received information.
[0037] In this embodiment, the industrial camera is connected and communicated with the host computer through the GigE interface 4, and the depth camera is connected and communicated with the host computer through the USB3.0 interface; the host computer body adopts an industrial computer with a Gigabit Ethernet port and a USB3.0 interface.
[0038] Such as figure 2 As shown, in this embodiment, the acquisition device compo...
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The invention discloses a three-dimensional positioning method, a three-dimensional positioning method acquisition device and a three-dimensional positioning system. The system comprises an industrial camera, a depth camera and an upper computer, the upper computer obtains plane coordinates and relative angle information, detected by the industrial camera, of the to-be-detected object in the scene, and obtains relative height information, detected by the depth camera, of the to-be-detected object in the scene; according to the obtained information, a pre-trained three-dimensional information classification model is utilized to obtain the material type of the to-be-measured object and the position area information of the to-be-measured object in the located scene; wherein a training sample of the pre-trained three-dimensional information classification model is three-dimensional coordinate information of an object corresponding to a plurality of material types at a plurality of different positions and rotation angles. According to the invention, the industrial camera and the depth camera are combined to realize three-dimensional detection of the to-be-detected object, and the real-time performance and accuracy of detection are improved.
Description
technical field [0001] The invention relates to the technical field of computer vision detection, in particular to a three-dimensional positioning method, device and system combining an industrial camera and a depth camera. Background technique [0002] No matter in the fields of production, transportation, transportation, etc., there are certain requirements for the three-dimensional positioning of objects. In the current method, manual detection is time-consuming and laborious, and the detection effect is not ideal. The positioning based on two-dimensional feature matching lacks the support of three-dimensional information, and requires the cooperation of personnel or three-dimensional detection equipment. However, the line laser scanning method used in 3D information collection has poor immediacy; visible structured light is easily interfered by external light, and is not suitable for complex use environments; point laser ranging requires two-dimensional matching and dept...
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IPC IPC(8): G06T7/73G06T7/50G06K9/62G06N3/04
Inventor 林斌邓启寰
Owner SUZHOU JIANGAO OPTOELECTRONICS TECH