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Workpiece three-dimensional reconstruction method based on Gaussian mixture model

A Gaussian mixture model and 3D reconstruction technology, applied in the field of 3D vision, can solve the problems of large error and influence

Pending Publication Date: 2021-09-07
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the 3D reconstruction method based on monocular 2D images has large errors and is easily affected by camera parameters

Method used

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  • Workpiece three-dimensional reconstruction method based on Gaussian mixture model
  • Workpiece three-dimensional reconstruction method based on Gaussian mixture model
  • Workpiece three-dimensional reconstruction method based on Gaussian mixture model

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specific Embodiment approach

[0044] to combine Figure 1-3 , and taking the electric vehicle front wheel fender workpiece as an example, the specific implementation of the patent of the present invention is as follows:

[0045]Step 1: Multi-view point cloud data collection. Use the Intel Realsense D435 depth camera to collect the point cloud data of the workplace. The depth camera is placed on a tripod with a height of 1.8m, and is connected to the USB3.0 port of the computer with an extended USB3.0 transmission data cable. Place the workpiece on the rotating platform (the initial pose can be facing the depth camera), measure and record the ROI parameters between the rotating platform and the depth camera, set the rotation angle of the rotating platform (take 45° as an example), and the rotating platform passes the motor Control the rotation angle, every 45° rotation, the depth camera will collect the data and send it to the computer until the workpiece rotates 360°. The scene point cloud data from one...

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Abstract

The invention discloses a workpiece three-dimensional reconstruction method based on a Gaussian mixture model. The method comprises steps of step 1, carrying out multi-view point cloud data acquisition, point cloud preprocessing, point cloud registration and curved surface reconstruction; step 2, collecting point cloud data by using a depth camera, and obtaining multi-view information of the workpiece by using a rotating platform; step 3, carrying out point cloud preprocessing work such as target extraction on the collected data; and 4, on the basis, registering the workpiece point cloud, establishing a full-view point cloud model, performing curved surface reconstruction on the model, and reconstructing a three-dimensional model close to a real object. The method has the advantages of being easy to implement and high in reconstruction speed.

Description

technical field [0001] The invention relates to the technical field of 3D vision, in particular to a three-dimensional reconstruction method of a workpiece based on a Gaussian mixture model. Background technique [0002] The application requirements of 3D reconstruction technology in data visualization, medical technology, industry and other fields are getting higher and higher. Taking the industrial production scene as an example, in the spraying production line, the spraying trajectory is automatically planned by using the 3D reconstruction model of the workpiece to be processed and handed over to Robot execution can reduce manual operations, improve work efficiency and automation while improving the safety of spraying operations. [0003] Driven by vision sensor technology, various 3D reconstruction methods have been developed rapidly. However, the 3D reconstruction method based on monocular 2D images has large errors and is easily affected by camera parameters. The 3D ...

Claims

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Application Information

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IPC IPC(8): G06T17/20G06T7/33G06T5/00
CPCG06T17/20G06T7/33G06T2200/08G06T2207/10028G06T5/70
Inventor 禹鑫燚张毅凯欧林林程兆赢
Owner ZHEJIANG UNIV OF TECH