Cubic object volume calculation method for eliminating noise based on depth image

Abstract

The invention provides a cubic object volume calculation method for eliminating noise based on a depth image. The method comprises the following steps: acquiring the depth image and a gradient map ofa cubic object; classifying pixel points in the gradient map according to the gradient map, and obtaining segmented images of an edge point map, an upper surface, a left vertical plane and a right vertical plane of the depth image; 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, and extracting angular points according to the longest edge line of each group to carry out pairing; achieving positioning of the cubic object; fitting the plane of the cubic object in a three-dimensional space accordingto the upper surface, the left vertical plane and the right vertical plane of the cubic object; removing noise points on each surface through multiple times of fitting, acquiring an ideal point set corresponding to each surface, acquiring the contour boundary and corner points of each surface according to the ideal point set, acquiring the length, width and height of the cubic object are obtainedaccording to the coordinates of the corner points in the three-dimensional space, and calculating the volume of the cubic object. The volume of the cubic object can be accurately calculated.

Description

technical field [0001] The invention relates to the field of cubic object recognition of depth images, in particular to a method for calculating the volume of cubic objects based on depth images to remove noise. Background technique [0002] Depth image, also known as range image, refers to an image that uses the distance from the image collector to each point in the scene as a pixel value, which directly reflects the geometry of the visible surface of a cubic object. Therefore, depth 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 it is increasing. The volume measurement of parcels, goods, and containers by various sorting centers is relatively limited and time-consuming, which reduces transportation efficiency. [0003] In the prior art, most of the packages are in the shape of cubic objects. The volume measurement of the package is mainly by comparing ...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the limitations and time-consuming problems of volume measurement of cubic objects such as parcels, goods, and containers in the prior art, the present invention proposes a method for calculating the volume of cubic objects based on depth images