The present invention provides a method and
system for dynamic identification and location of a charging
pile based on Kinect. The method comprises: the step 1: calculating a conversion matrix from acamera coordinate
system to a setting world coordinate
system according to three-dimensional
point cloud data obtained by a Kinect sensor; the step 2: performing one-to-one alignment of pixels in a
color map and a
depth map; the step 3: removing invalid pixel points in an image obtained in the step 2, converting residual pixel points to three-dimensional spatial points and eliminating points higher than 50cm or lower than 3cm; the step 4: performing downsampling of
point cloud obtained in the step 3 to reduce computing amount of follow-up
processing, and performing
radius filtering to remove outliers; the step 5: performing Euclidean cluster of the
point cloud obtained in the step 4 to obtain one or more than one cluster objects; the step 6:
processing the one or more than one cluster objects obtained in the step 5, and screening cluster objects having two feature planes; the step 7:
processing a cluster body screened in the step 6, and calculating whether a geometrical relationship between two feature planes accords with a three-dimensional shape of a charging
pile or not; and the step 8: performing calculation in geometry according to relative position of the two feature planes determined in the step 7, determining a position and an angle of deflection of the charging relative to an original point of the world coordinate system, and realizing location of the charging
pile. The method and system for dynamic identification and location of charging pile based on the Kinect have the advantages of accurate recognition, strong robustness, stable dynamic tracking, less susceptible to light interference and the like, and the positioning of the target is small in calculation amount and accurate in calculation result, etc.