3D pose estimation of large and complicated workpieces based on binocular stereo vision

被引：42

作者：

Luo, Zhifeng ^{[1
,2
]}

Zhang, Ke ^{[1
,2
]}

Wang, Zhigang ^{[1
,2
]}

Zheng, Jian ^{[1
,2
]}

Chen, Yixin ^{[1
,2
]}

机构：

[1] Shanghai Jiao Tong Univ, Shanghai Key Lab Mat Laser Proc & Modificat, Shanghai 200240, Peoples R China

[2] Collaborat Innovat Ctr Adv Ship & Deep Sea Explor, Shanghai 200240, Peoples R China

来源：

APPLIED OPTICS | 2017年 / 56卷 / 24期

关键词：

EPIPOLAR GEOMETRY;

D O I：

10.1364/AO.56.006822

中图分类号：

O43 [光学];

学科分类号：

070207 ; 0803 ;

摘要：

A binocular stereo vision method is proposed for automatically locating the position and posture of workpieces, which is especially important when processing large, complicated structures, for example, the laser hardening and laser cladding of automotive die. First, a binocular stereo vision positioning system was designed and modeled, from which a method of background subtraction was proposed to extract the edge line of the foreground area. Furthermore, the intersection point of the workpiece contour line was taken as the characteristic point of the workpiece, and an algorithm that combines epipolar constraint with gray value similarity was proposed to quickly and accurately realize the feature points matching. Finally, experiments show that the workpiece can be positioned accurately, and that the precision of position recognition could be controlled within +0.5 mm when the camera was 1 m away from the workpiece, meeting the requirement of robot processing. (C) 2017 Optical Society of America

引用

页码：6822 / 6836

页数：15

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