Method for improving recognition and positioning precision of automobile sheet metal workpiece

Abstract

The invention belongs to the field of disordered sorting machine vision, and particularly relates to a method for improving the recognition and positioning precision of automobile sheet metal workpieces. The method comprises the following steps of: 1, acquiring a complete scene image of a workpiece to be captured, carrying out preprocessing, completing instance segmentation on the workpiece in the image, and extracting the edge of a two-dimensional image according to an instance segmentation result; 2, preprocessing the acquired point cloud data of the to-be-captured workpiece scene, and further extracting the edge of the point cloud data by taking the edge of the extracted two-dimensional image as an index; calculating point pair features in the edge of the point cloud, and establishing global model description; and 3, carrying out online model matching, obtaining candidate poses by adopting a voting method based on a Hough voting principle, clustering the candidate poses by adopting a connectivity density clustering algorithm, and optimizing the poses by adopting an ICP registration algorithm. According to the invention, the recognition and positioning precision of the automobile sheet metal part can be greatly improved while the workpiece recognition speed is ensured.

Description

technical field

[0001] The invention belongs to the field of disordered sorting machine vision, in particular to a method for improving the recognition and positioning accuracy of automobile sheet metal workpieces. Background technique

[0002] The disordered sorting system guided by machine vision has the advantages of high precision and strong adaptability, and can well complete the task of sorting workpieces in unstructured environments. The vision-guided sorting system can make the production line more flexible, better adapt to today's small-batch personalized customization production needs, and avoid the restrictions on the production line conversion cycle caused by robot teaching programming.

[0003] In the actual production and processing process of the automobile industry, each production workshop needs to be uniformly allocated production parts by the logistics department. The logistics department needs to deal with a large number of parts unpacking and transshipm...

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