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Workpiece identification and positioning method and system based on depth camera and sorting system

A technology of depth camera and positioning method, which is applied to computer components, character and pattern recognition, manipulators, etc., can solve the problems of relying on initial values ​​and limited precision, and achieve the effect of shortening time, improving precision and realizing estimation

Pending Publication Date: 2019-09-17
NANJING INST OF TECH
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Problems solved by technology

[0006] Traditional point cloud registration methods are limited in accuracy and depend on initial values

Method used

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  • Workpiece identification and positioning method and system based on depth camera and sorting system
  • Workpiece identification and positioning method and system based on depth camera and sorting system
  • Workpiece identification and positioning method and system based on depth camera and sorting system

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Embodiment Construction

[0057] In order to better understand the technical content of the present invention, specific embodiments are given together with the attached drawings for description as follows.

[0058] combine figure 1 , the present invention proposes a workpiece recognition and positioning method based on a depth camera, the method comprising:

[0059] S1: The depth camera is used to collect the image information of the on-site working environment and the corresponding real-time point cloud data.

[0060] S2: Based on the support vector machine that recognizes workpiece models of different types, different attitudes and different degrees of integrity, identify the workpiece point cloud contained in the real-time point cloud data, as well as the corresponding workpiece type and workpiece posture.

[0061] S3: The recognition result is used as the initial value of the point cloud registration, and the ICP algorithm and the NDT algorithm are used in turn for fine registration.

[0062] S4:...

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Abstract

The invention discloses a workpiece recognition and positioning method and system based on a depth camera. Workpiece models of different types, different postures and different completeness degrees are trained based on a support vector machine, and workpiece point clouds contained in real-time point cloud data and corresponding workpiece types and workpiece postures are recognized; and the identification result is taken as an initial value of point cloud registration, and fine registration is carried out by adopting an ICP algorithm and an NDT algorithm. According to the method, the point cloud data generated by the depth camera is used as a training sample to identify the workpiece, so that the robustness of identifying the workpiece is enhanced, and the estimation of the workpiece pose is realized; the identification result serves as the initial value of point cloud registration, so that the time of point cloud registration is effectively shortened, and the precision of point cloud registration is improved; besides, the invention further provides a sorting system, and based on the workpiece recognition and positioning method, the target workpiece is quickly recognized and positioned, so that the sorting action of the industrial robot tail end execution piece is precisely controlled.

Description

technical field [0001] The invention relates to the technical field of machine vision, in particular to a depth camera-based workpiece identification and positioning method and system, and a sorting system. Background technique [0002] In recent years, with the rapid development of computer technology and image processing technology, machine vision has been widely used in technical fields such as automobile manufacturing, food sorting, and automated processing and production. In the industrial field, machine vision is usually used in three aspects: visual measurement, visual guidance and visual inspection. [0003] In modern visual inspection automatic processing production, workpiece target recognition and positioning is an essential step. Traditional object recognition often adopts the method of template matching. Template matching method is one of the most basic image recognition methods. The template is an array designed to detect certain regional features of the ima...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T7/33G06K9/62B25J9/16
CPCG06T7/001G06T7/344B25J9/1612B25J9/1697G06T2207/10028G06F18/2411
Inventor 温秀兰张腾飞孙乔乔贵方张颖康传帅
Owner NANJING INST OF TECH
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