Texture-free plane structure industrial part identification and 6D pose estimation method based on template matching
A technology of template matching and planar structure, which is applied in computing, image data processing, instruments, etc., can solve the problems of low flexibility, small scope of application, inability to realize unordered stacking of workpieces, etc., and achieve high positioning accuracy and improved The effect of matching speed
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[0053] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention.
[0054] refer to Figure 1-4 , a texture-free planar structure industrial part recognition and 6D pose estimation method based on template matching, workpiece recognition classification and 2D image positioning based on 2D template matching for RGB images; template matching improvement combined with image multi-resolution expression and layered template library The calculation speed of the algorithm; based on the 3D point cloud plane features and template matching results, the 6D pose estimation of the workpiece is realized;
[0055] The above method specifically includes the following steps:
[0056] S1: Use the binocular structured light camera and industrial robot...
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