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Object posture measuring method based on CAD model and monocular vision

A technology of monocular vision and pose measurement, applied in the field of visual measurement, can solve problems such as infeasibility and achieve low-cost effects

Active Publication Date: 2015-05-06
ZHEJIANG UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

Such methods are not feasible in industrial applications where the motion vector control parameters are unknown or there is no motion vector at all

Method used

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  • Object posture measuring method based on CAD model and monocular vision
  • Object posture measuring method based on CAD model and monocular vision
  • Object posture measuring method based on CAD model and monocular vision

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Experimental program
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Embodiment Construction

[0030] The steps of the object pose measurement method based on CAD model and monocular vision are as follows:

[0031] (1) Obtain the CAD model of the object;

[0032] (2) Fix a single camera above the working area, calibrate the internal parameters of the camera, obtain the internal parameters and distortion coefficients of the camera, set the world coordinate system, take the workbench as the plane of z=0, and obtain the external parameters of the camera [ R 1 t 1 ], that is, the rotation and translation transformation of the camera coordinate system relative to the world coordinate system, where R 1 represents the rotation matrix, t 1Indicates the translation vector, the internal and external parameters of the camera can be calibrated with the help of a checkerboard, using the Zhang Zhengyou calibration method;

[0033] (3) Place the object in the center of the field of view, and take a standard template image of the target object;

[0034] (4) The camera shoots onli...

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Abstract

The invention discloses an object posture measuring method based on a CAD model and monocular vision. The object posture measuring method based on the CAD model and the monocular vision comprises the following steps: after obtaining a movement relationship between a template shooting camera of an assumed movement and a fixed camera by virtue of movement assumption and iterative calculation of the template shooting camera to obtain an outer parameter of a binocular system consisting of the template shooting camera of the assumed movement and the fixed camera, performing three-dimensional reconstruction on a target to obtain three-dimensional point cloud data of the target, and rectifying a CAD model including object three-dimensional structure information to obtain a corresponding relation between the object posture of the target object under a current world coordinate system and the CAD model, and accurately figuring the posture of the target object. A movable camera fixing carrier is not needed and the CAD model and the three-dimensional vision information of the object are combined, so that the cost is low, the precision is high, and the demand of the actual industrial application can be met.

Description

technical field [0001] The invention relates to an object pose measurement method based on a CAD model and monocular vision, belonging to the field of visual measurement. Background technique [0002] With the development of industrial robots, robot / manipulator operations based on visual servoing have been applied in more and more scenarios, which is the core issue of the current "machine replacement" and industrial transformation. However, due to technical and cost constraints, the current industrial vision system does not have a good simple solution for the precise positioning of three-dimensional objects. As a result, the current visual servo system is mainly used in two aspects: one is the scene where the target object is regular and flat, It can be precisely positioned through the outer contour; the second is the scene that does not require high recognition accuracy and has a large grasping error tolerance, such as food packaging, palletizing, etc. However, for applica...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C11/00G01C11/04
CPCG01C11/00G01C11/04
Inventor 熊蓉程玉立章逸丰
Owner ZHEJIANG UNIV
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