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Multi-template matching real-time positioning method based on improved 2D-ICP

A real-time positioning, multi-template technology, applied in image data processing, instruments, calculations, etc., can solve the problem of increasing template matching calculation amount, spending a lot of time, etc., to reduce the scope, improve the positioning speed and accuracy, and reduce the amount of matching calculation. Effect

Pending Publication Date: 2022-04-12
无锡超通智能制造技术研究院有限公司
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Problems solved by technology

By generating template databases from different angles and different scales, then traversing and searching with the image to be searched, and finally performing sub-pixel extraction and positioning, the amount of template matching calculations increases sharply with the improvement of accuracy, especially for high-resolution images and pyramids. It takes a lot of time to perform accurate pose matching on the bottom layer

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  • Multi-template matching real-time positioning method based on improved 2D-ICP
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  • Multi-template matching real-time positioning method based on improved 2D-ICP

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Embodiment Construction

[0035] Such as figure 1 As shown, a real-time positioning method based on improved 2D-ICP multi-template matching, including the following steps:

[0036] Step 1. Adjust the camera: Focus the high-resolution industrial camera on the workpiece plane, fix the working focal length, adjust the light source and camera exposure time, so that the camera image is clear and the edges are clear. The embodiment uses Daheng Mercury MER-503-36U3M-L model, 500W pixels, and the size of the collected image is 2448×2048.

[0037] refer to figure 2, step 2. Make template database: template database is carried out off-line making, at first select template image region manually, determine optimal pyramid layer number and the angle step size of each layer pyramid search according to the size of image and template workpiece feature; Then sequentially Canny edge extraction is performed on the template image of the n-th angle θ, and the edge point (x, y, G) at this time is recorded x , G y , m),...

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Abstract

The invention belongs to the technical field of machine vision template matching online positioning, and particularly relates to a multi-template matching real-time positioning method based on improved 2D-ICP. Firstly, an industrial camera is installed and adjusted on a machining platform, a template workpiece is placed, a template image is collected, and a template database is made off line and stored; secondly, collecting images in real time, performing rough matching on the to-be-searched images by adopting a multi-template matching method and OpenMP parallel programming, and then performing accurate matching through a 2D-ICP algorithm of an improved matching calculation function to obtain pose information of target sub-pixel precision; calculating the actual coordinate and angle of the target object on the processing platform according to the actual installation pose and pixel equivalent of the camera; according to the method, the matching process of any plane workpiece template can be realized, the workpiece pose can be determined, and the method has the advantages of rapidness, accuracy and stability.

Description

technical field [0001] The invention belongs to the field of machine vision template matching online positioning technology, in particular to a multi-template matching real-time positioning method based on improved 2D-ICP. Background technique [0002] With the rapid development of the manufacturing industry, more and more attention has been paid to high-speed, high-precision, high-automation and flexible production lines. The application of machine vision technology in the field of automatic production industry has become the first choice to solve problems such as detection, measurement and positioning. Among them, the fast and accurate positioning of the workpiece is an important step before the processing of the workpiece. Its speed determines the processing efficiency, and its precision determines the processing quality. At present, the visual plane positioning technology generally adopts the algorithm of template matching. The method of grayscale template matching is t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T7/11G06T7/13G06T7/33G06T7/73G06T7/80
Inventor 梅雪松运侠伦李晓赵亮董鑫亮梅岭南刘喜春
Owner 无锡超通智能制造技术研究院有限公司
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