Detection identification method for three-X combined mark

An identification method and marking technology, applied in measuring devices, instruments, optical devices, etc., can solve the problems of wrong detection points, insufficient accuracy and robustness, etc.

Active Publication Date: 2013-03-13
BEIJING BAIHUI WEIKANG SCI & TECH CO LTD
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AI Technical Summary

Problems solved by technology

At present, there are many methods to realize the rapid detection of the sub-pixel position of the X corner point, but there are still deficiencies in the detection accuracy and robustness, and it is easy to generate false detection points.

Method used

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  • Detection identification method for three-X combined mark
  • Detection identification method for three-X combined mark
  • Detection identification method for three-X combined mark

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Embodiment Construction

[0080] Embodiments of the present invention are described in detail below in conjunction with accompanying drawings: this example implements under the premise of the technical solution of the present invention, and provides detailed implementation and specific operation process, but the protection scope of the present invention is not limited to the following Example.

[0081] Step 1: Make a triple X combination mark, such as Figure 7 As shown, the triple X combination in the figure is marked as W type.

[0082] Step 2: Detect the X corner point, the flow chart is Figure 8 Shown:

[0083] ① Calculate the Hessian matrix of the image. For the X corner point, the corresponding Hessian matrix is:

[0084] H = r xx r xy r ...

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Abstract

The invention discloses a detection identification method for a three-X combined mark, comprising the following three steps: 1. manufacturing the three-X combined mark, and combining three standard X angular points into the B type and W type of combined marks according to certain constraint rules; 2. detecting the X angular points, carrying out symmetry calibration by taking a corresponding Hessian matrix feature vector direction as the direction of the symmetry axis of the X angular points on the basis of a Hessian matrix probing X angular point algorithm; and 3. in the detected sequence of the X angular points with direction, detecting and indentifying the three-X combined mark. Two types of three-X combined marks defined by the detection identification method have the advantages of rotation invariance and distortion resistance; and by utilizing the detection identification algorithm, different three-X combined marks can be detected in a distinguishing mode, and the difficulty of subsequent vision matching and identification is lowered.

Description

technical field [0001] The invention relates to a detection and recognition method for a triple X combination mark, which mainly defines two types of triple X combination marks, and improves the X corner point detection based on the Hessian matrix by introducing a symmetry axis based on the X corner point for symmetry verification Algorithm, and on this basis, a three-X combination mark detection and recognition algorithm is proposed, which belongs to the field of stereo vision measurement. Background technique [0002] In stereo vision measurement, at least three non-collinear feature points are required to determine the pose of a single target. When there are multiple targets at the same time, it is necessary to be able to distinguish the targets. [0003] For the requirements of pose measurement, generally at least three non-collinear marker points are pasted on the target, and the pose measurement of the target is realized by measuring the marker points on the combined m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/00
Inventor 孟偲马增婷谢新阳郭树德刘达
Owner BEIJING BAIHUI WEIKANG SCI & TECH CO LTD
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