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

Active Publication Date: 2021-06-25
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to solve the shortcomings of the existing method, which has a small scope of application and a low degree of flexibility, and cannot realize the loading and unloading of disorderly stacked workpieces, and proposes a textureless planar structure industrial part recognition based on template matching and 6D pose estimation method

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  • Texture-free plane structure industrial part identification and 6D pose estimation method based on template matching
  • Texture-free plane structure industrial part identification and 6D pose estimation method based on template matching
  • Texture-free plane structure industrial part identification and 6D pose estimation method based on template matching

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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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Abstract

The invention belongs to the technical field of machine vision and image processing, particularly relates to a texture-free plane structure industrial part identification and 6D pose estimation method based on template matching. Aiming at the problems that an existing mode is small in application range and low in flexibility degree and feeding and discharging of disorderly stacked workpieces cannot be realized, the following scheme is provided. The method comprises the following steps: firstly, acquiring RGB images and depth maps of stacked workpieces through an RGB-D camera, and performing workpiece identification classification and 2D image positioning on the RGB images based on 2D template matching; converting the depth maps into 3D point cloud, carrying out filtering processing on a point cloud image to remove background point cloud and noise point cloud interference, and carrying out Euclidean clustering segmentation on the filtered point cloud to obtain single workpiece instance point cloud; and performing RANSAC plane fitting on the point cloud of a single part, and estimating the 6D pose of an object in a camera coordinate system by using a parameter equation of a fitting plane and the 2D image pixel coordinates of the center of the workpieces.

Description

technical field [0001] The invention relates to the technical fields of machine vision and image processing, in particular to a template matching-based method for identifying industrial parts with a textureless planar structure and estimating a 6D pose. Background technique [0002] In robot automation applications, using robots to automate the loading and unloading of industrial parts is a very important application scenario. [0003] The existing automatic loading and unloading widely adopts the teaching-online mode. The robot grasps the objects on the fixed station through the teaching programming. Loading and unloading of workpieces. Contents of the invention [0004] The purpose of the present invention is to solve the shortcomings of the existing method, which has a small scope of application and a low degree of flexibility, and cannot realize the loading and unloading of disorderly stacked workpieces, and proposes a textureless planar structure industrial part reco...

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Application Information

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IPC IPC(8): G06T7/73G06T7/00G06T7/10G06T5/00G06T5/20G06T3/00
CPCG06T7/75G06T7/0004G06T7/10G06T5/20G06T2207/10028G06T2207/20024G06T2207/30164G06T2207/30244G06T3/02G06T5/70Y02P90/30
Inventor 周德鑫杨艺刘超盛鑫军熊振华
Owner SHANGHAI JIAO TONG UNIV
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