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A medium and large cargo volume measurement method based on a depth image

A technology for depth image, volume measurement, applied in the field of logistics and volume measurement

Active Publication Date: 2019-06-14
CHONGQING JIAOTONG UNIVERSITY
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  • Abstract
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Problems solved by technology

[0004] In view of this, the purpose of the present invention is to provide a method for measuring the volume of medium and large cargo based on depth images, which effectively solves the problem of volume measurement of cargo boxes such as medium and large logistics storage cabinets and freight containers, and is easy to real-time and arrange. Fast and accurate measurement, effectively replacing manual measurement and improving measurement efficiency

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  • A medium and large cargo volume measurement method based on a depth image
  • A medium and large cargo volume measurement method based on a depth image
  • A medium and large cargo volume measurement method based on a depth image

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Embodiment Construction

[0067] like figure 1 As shown, a method for measuring the volume of medium and large cargo based on a depth image provided by the present invention includes steps:

[0068] S1: Calibrate the depth of field parameters of the depth camera to obtain the correction ratio K of the real depth of field and the depth of field measured by the depth camera;

[0069] S2: Use the depth camera to align the common sides of the two adjacent surfaces of the goods to be tested, and acquire the 3D point cloud scene graph containing the goods to be tested. The two side faces are fitted under a point cloud coordinate, which provides a reference basis for association; the three-dimensional point cloud scene graph collected in this step includes the common side of two adjacent faces and the image area of ​​two adjacent faces, and the goods to be tested is a rectangular box;

[0070] Wherein, if there is a collected 3D point cloud scene graph containing the goods to be measured, then the 3D point ...

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Abstract

The invention provides a medium and large cargo volume measurement method based on a depth image. The method comprises the steps of S1, calibrating depth-of-field parameters of a depth camera; S2 to S5, acquiring a three-dimensional point cloud scene graph containing two adjacent surfaces of the to-be-tested goods; S6, determining a reference point cloud; S7, judging whether the current base pointcloud can completely reproduce the surface of the to-be-detected cargo or not, and if not, entering the step S8; if yes, entering the step S9; S8, fitting other three-dimensional point cloud scene graphs to the reference point cloud, and returning to the step S7; S9, performing downsampling processing; S10, using a random sampling consistency algorithm to perform image segmentation on the depth image after down-sampling processing; S11, calculating the initial volume of the measured goods; S12, correcting the initial volume to obtain a final volume. The device effectively solves the problem of volume measurement of medium and large logistics storage cabinets, freight containers and other cargo boxes, is easy to implement and arrange, is quick and accurate in measurement, effectively replaces manual measurement, and improves the measurement efficiency.

Description

technical field [0001] The invention relates to the technical field of logistics and volume measurement, in particular to a method for measuring the volume of medium and large cargo based on a depth image. Background technique [0002] The throughput of medium and large cargo in domestic logistics, port shipping and airport shipping is huge and has been showing high growth. In 2017, the cargo throughput of the national ports was 14.007 billion tons, an increase of 6.1% over the previous year, and the container throughput of the national ports was 238 million TEU, an increase of 8.3% over the previous year. In the sorting centers of major express delivery, shipping ports, and airport shipping, manual measurement of the volume of medium and large goods, containers or containers is time-consuming. How to quickly measure the volume of medium and large goods in order to efficiently and rationally use the transportation space, thereby improving the efficiency of cargo transportati...

Claims

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Application Information

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IPC IPC(8): G06T7/00G01B11/00
Inventor 隗寒冰张煜轩徐进
Owner CHONGQING JIAOTONG UNIVERSITY
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