Material pile edge detection method

Abstract

The invention discloses a material pile edge detection method, and relates to the technical field of material pile detection. The method comprises the following steps: carrying out reference point calibration on a material pile in advance, and obtaining monocular multi-view edge image information; carrying out feature point extraction on the monocular multi-view edge image information based on a scale-invariant feature transform (SIFT) algorithm, obtaining material pile section curve point clouds, and acquiring global static point cloud data; generating sparse point clouds from the acquired global static point cloud data based on a structure from motion (SFM) algorithm; generating dense point clouds based on a clustering views for multi-view stereo (CMVS) algorithm and a patch-based multi-view stereo (PMVS) algorithm; and acquiring a real-time three-dimensional point cloud model of the material pile. According to the invention, the engineering construction inventory difficulty is reduced, the cost is reduced, good precision and reliable stability are achieved, and the inventory and measurement problems of material piles are effectively solved.

Description

technical field [0001] The invention relates to the technical field of stockpile detection, in particular to a method for detecting the edge of a stockpile. Background technique [0002] In the process of industrial production, it is often encountered that the volume of the stockpile needs to be obtained quickly. For example, in mines, power plants, ports and stations, the volume and quality of many powder material stockpiles (such as coal, etc.) need to be accurately and quickly measured. , That is, coal, which has been a technical problem for many years. [0003] At present, due to the relatively large volume of these piles and the general surface is irregular, the measurement method adopted is still the most primitive method. After the coal pile is shaped into a standard geometry with a bulldozer, a tape measure or a hand-held laser range finder is used manually. Carry out measurement and estimation; although there are attempts to design a semi-automatic measurement syst...

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Problems solved by technology

[0003] At present, due to the relatively large volume of these piles and the general surface is irregular, the measurement method adopted is still the most primitive method. After the coal pile is shaped into a standard geometry with a bulldozer, a tape measure or a hand-held laser range finder is used manually. Carry out measurement and estimation; although there are attempts to design a semi-automatic measurement system using 3D photography and laser ranging technology, there are still many defects in the principle and implementation technology, and it cannot be applied to the 3D measurement of irregular stockpiles

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