Flexible cable identification and three-dimensional reconstruction method based on point cloud

Abstract

The invention discloses a flexible cable identification and three-dimensional reconstruction method based on a point cloud. The method comprises the following steps: firstly, carrying out preprocessing and filtering on the point cloud and removing outliers; then, based on a deep learning-based point cloud semantic segmentation algorithm, obtaining a trained model through pre-training and fine adjustment, outputting a semantic category label of each point, and completing point cloud segmentation; segmenting the cable point cloud into a plurality of point cloud clusters by using an improved K-Means clustering algorithm, and performing cylinder fitting on each point cloud cluster, wherein the center of each cylinder is a discrete point on a cable center line; finally, adopting a sorting algorithm based on PCA and octree direction constraint, on this basis, fitting a center line equation of the cable through a B spline interpolation algorithm, and achieving three-dimensional reconstruction of the cable in the space. The real-time performance is high, the accuracy is high, and the three-dimensional reconstruction effect of the cable can meet the precision requirement of subsequent mechanical arm grabbing.

Description

Technical field [0001] The present invention belongs to the field of image information processing, and in particular, the present invention relates to a flexible cable identification and three-dimensional reconstruction method based on point cloud. Background technique [0002] Today, today, the implementation of cloud computing, Internet of Things, and big data, the implementation of the robot has entered a growing industry, from the original structural chemical plant environment to unknown dangerous fields such as aerospace, robot intelligent development This dream has gradually become a reality from the experience from high-risk industries. Therefore, it is greatly practical for research autonomous distribution line maintenance robot system instead of artificial charging operations. [0003] However, the current robot system is difficult to capture, and therefore, it is necessary to study a point-based flexible cable identification and three-dimensional reconstruction method, ...

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Problems solved by technology

[0003] However, at present, it is difficult for the robot system to grasp the weak rigidity and uncertain shape of the operation target. Therefore, the study of a flexible cable recognition and 3D reconstruction method based on point cloud has profound implications for the subsequent realization of the precise grasping of the flexible cable by the robotic arm. The theoretical significance and practical value of

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