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Multi-target identification and positioning method based on binocular vision

A positioning method and binocular vision technology, applied in the field of image processing, can solve problems such as target recognition errors and long time-consuming identification and positioning results, and achieve the effect of improving matching speed and saving time and cost.

Inactive Publication Date: 2021-07-23
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When performing similarity matching between the target to be recognized and the matching template, because the position and attitude of the target are too different from the template, it will lead to errors in target recognition, and it will take a long time to obtain the recognition and positioning results of the target

Method used

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  • Multi-target identification and positioning method based on binocular vision
  • Multi-target identification and positioning method based on binocular vision
  • Multi-target identification and positioning method based on binocular vision

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Embodiment Construction

[0043] In order to make the object, technical solution and advantages of the present invention clearer, the present invention is described below through specific embodiments shown in the accompanying drawings. It should be understood, however, that these descriptions are exemplary only and are not intended to limit the scope of the present invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present invention.

[0044] Such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 As shown, this specific embodiment adopts the following technical solutions: a multi-target recognition and positioning method based on binocular vision, characterized in that: the specific implementation process of the method is:

[0045] Step 1: Binocular Camera Calibration

[0046] Calibrate the binocular camera through the Zhang Zhengyou calibration method;

[0047] Step 2: image...

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Abstract

The invention discloses a multi-target identification and positioning method based on binocular vision, and relates to the field of image processing. The method is technically characterized by comprising the steps of 1, performing binocular camera calibration; 2, carrying out distortion correction, noise reduction filtering, image enhancement and other preprocessing on the image; 3, segmenting the image through an Otsu algorithm, and extracting contour features through a Canny algorithm; 4, matching the contour information with the template information; 5, extracting angular points through adoption of a Harris angular point detection method, and increasing the matching rate through an improved NCC algorithm; and 6, intersecting the space mapping lines to obtain a target space pose. According to the identification method disclosed by the invention, multi-target identification and positioning can be quickly realized, the identification and positioning precision is high, and the method has a good application prospect.

Description

technical field [0001] The invention belongs to the technical field of image processing, in particular to a multi-target recognition and positioning method based on binocular vision. Background technique [0002] In the field of industrial automation, combined with binocular vision technology, the technologies of grasping, handling, sorting, and stacking of a single target by the robotic arm have been very mature and widely used. However, technologies such as automatic grasping, sorting, and stacking of robotic arms for multi-objectives still need to be researched and continuously improved. When similarity matching is performed between the target to be recognized and the matching template, because the position and attitude of the target are too different from the template, it will lead to errors in target recognition, and it will take a long time to obtain the recognition and positioning results of the target. Contents of the invention [0003] In view of the above proble...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/13G06T7/181G06T7/00G06T5/00G06N3/00G06K9/62G06K9/46
CPCG06T7/85G06T7/13G06T7/181G06T7/0004G06N3/006G06T2207/20081G06T2207/30164G06V10/44G06F18/23G06T5/70
Inventor 张洪鑫马少尉李猛
Owner HARBIN UNIV OF SCI & TECH