Method for accurately calculating volume of cubic object based on depth image

Abstract

The invention provides a method for accurately calculating the volume of a cubic object based on a depth image, and the method comprises the steps: obtaining the depth image and a gradient image of the cubic object, carrying out the classification of pixel points in the depth image, and obtaining an edge point image and segmented images of the upper surface, the left vertical plane and the right vertical plane of the cubic object; carrying out edge line detection on the edge point graph, clustering and merging all detected edge lines to obtain a collinear edge line group set, extracting angular points according to the longest edge line of each group, and pairing the angular points; determining the upper surface and the overall contour of the cubic object; obtaining a contour edge line of the upper surface and determining an upper surface quadrangle according to the contour edge line; calculating the length and the width of the cubic object according to the quadrangle on the upper surface, fitting four vertical planes, accurately calculating the length, the width and the height of the cubic object, and calculating the volume of the cubic object. The method is applied to the logistics industry, the problems of volume measurement limitation and time consumption of targets such as cubic object-shaped packages can be solved, and the package sorting efficiency is improved.

Description

technical field [0001] The invention relates to the field of target recognition of depth images, in particular to an accurate calculation method of a cubic object volume based on depth images. Background technique [0002] Depth image, also known as distance image, refers to an image that takes the distance from the image collector to each point in the scene as a pixel value, and it directly reflects the geometry of the visible surface of the target. Therefore, depth-based images are widely used. Especially in the logistics industry. At present, the throughput of domestic logistics, port shipping, and airport shipping is very large and showing an increasing trend. The measurement of the volume of parcels, goods, containers, etc. by each sorting center is relatively limited and time-consuming, which reduces transportation efficiency. [0003] In the existing technology, most of the packages are in the shape of a cube. The volume measurement of the package is mainly by compar...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of limitations and time-consuming volume measurement of cube-shaped packages, goods, containers and other objects in the prior art, the present invention proposes an accurate calculation method for the volume of cubic objects based on depth images