基于几何特征的快速位姿识别算法研究  

Research on Fast Pose Detection Algorithm Based on Geometric Feature

作　　者：叶伯生[1] 杜宝森 唐小琦[1] 

机构地区：[1]华中科技大学机械科学与工程学院,武汉430074

出　　处：《组合机床与自动化加工技术》2014年第12期73-76,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金："高档数控机床与基础制造装备"科技重大专项(2012ZX04001012);武汉市科技攻关计划项目(2013010501010120)

摘　　要：文章提出一种基于机器视觉模块的工业机器人工件分拣快速姿态识别算法。与其它基于模板数据库的低实时性算法相比,该算法通过使用一种稳定的几何特征描述来实现快速、无需模板匹配的工件定位和姿态估计。首先通过图像处理获得工件轮廓序列,再通过最小矩形估计和轮廓特征比对,得到工件的位置和姿态数据并发送至机器人。最终保证视野内的工件按统一的姿态成排放置。A new Fast Pose Detection Algorithm is proposed in this paper. Different form other recognition strategies which need users to train template database and cost some time to match, the algorithm is based on a stable geometric feature descriptor. It is a non-model based pose detection method to get the position and orientation of objects. It first sorts out the right contour sequence by digital image processing and contour op-timization. Then, through minimum bounding rectangle and contour edge feature comparison, it gets the object’ s position and orientation data which will be send to the robot sorting system. So all the objects in scene can be picked up and placed in a straight line with the same direction.

关 键 词：机器视觉 姿态识别 几何特征 

分 类 号：TH166[机械工程—机械制造及自动化]