A luggage visual stacking size calculation method based on a depth map

Abstract

The application discloses a kind of based on depth map's luggage visual stacking size calculation method, it is related to industrial vision technology field, including, the original depth data of 3D camera is acquired, and carry out hole pixel statistics and noise detection, generate preliminary screening depth data, to the preliminary screening depth data is executed outlier rejection and hole completion, generate repair depth map and effective mask;Reachability evaluation is carried out to candidate placement pose set, and the optimal placement pose is generated;The size and posture of luggage are acquired, and the size and posture of luggage are based on optimal placement pose and are evaluated to risk of jamming, and target luggage pose is generated;Based on target luggage pose, calculate segmented propulsion control parameter, and according to segmented propulsion control parameter, luggage is sent into virtual loading channel, and the output stacking size is output.The application provides structured feedback for stacking strategy iteration, loading fullness determination, carriage space utilization rate evaluation and mechanical arm next placement decision by outputting stacking size.

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