基于边缘提取与多项式拟合的三维位姿解算方法  

3D Object Pose Estimation Method Based on Edge Extraction and Polynomial Fitting

作　　者：朱腾 郭晓莹 阎汉生[2,3] 梁剑斌[4] 舒彬 Zhu Teng;Guo Xiaoying;Yan Hansheng;Liang Jianbin;Shu Bin(School of Surveying and Remote Sensing Information,Guangdong Institute of Industry and Commerce,Guangzhou 510550;National Virtual Simulation Training Base of Surveying and Mapping Geographic Information Technology,Guangdong Polytechnic of Industry and Commerce,Guangzhou 510510;School of Mechanical and Electrical Engineering,Guangdong Institute of Industry and Commerce,Guangzhou 510510;School of Mechanical and electrical Engineering,Guangdong University of technology,Guangzhou 510039)

机构地区：[1]广东工贸职业技术学院测绘遥感信息学院,广州510550 [2]广东工贸职业技术学院测绘地理信息技术虚拟仿真实训基地,广州510510 [3]广东工贸职业技术学院机电工程学院,广州510510 [4]广东工业大学机电工程学院,广州510039

出　　处：《现代计算机》2022年第16期48-52,共5页Modern Computer

基　　金：广州市基础研究计划基础与应用基础研究项目(20210201298):多人协同虚拟仿真实验平台三维跟踪注册技术研究;广东工贸职业技术学院高层次人才专项(2021-gc-06):无人机测绘虚拟仿真实训系统研究;广东省科技创新战略专项(pdjh2021a0741):后疫情时代线上商品展示中的VR/AR关键技术研究。

摘　　要：现代智能装配环境对装配指引的要求不断提高,新型的AR装配指引系统以其独有的三维模型叠加显示能力而受到生产单位及研究人员的关注。其中快速鲁棒的目标位姿检测是增强现实(augmented reality,AR)智能装配指引系统的关键步骤之一。为了解决单目图像中复杂纹理物体的注册配准问题,本文提出一种基于边缘提取与多项式回归拟合的三维物体配准方法。该方法主要采用长板工件的边缘轮廓特征,通过构建三维模型与二维特征的匹配关系增强算法鲁棒性。同时为提高算法响应速度,本文通过引入多模板匹配,减少了位姿求解的拟合时间。最后,实验结果部分展示了本文算法在实际天线板AR布线辅助系统中的工作效果。With the increasing requirements of modern intelligent assembly environment for assembly guidance,the novel AR assembly guidance system has attracted the attention of production units and researchers due to its unique 3D model overlay display ability.And a fast and robust target pose detection algorithm is one of the key steps in Augmented Reality(AR)assembly guidance system.In order to solve the registration problem of complex texture objects in monocular images,a 3D object registration method based on edge extraction and polynomial regression fitting is proposed in this paper.This method mainly uses the edge contour features of long plate-shaped workpiece,and enhances the robustness of the algorithm by constructing the matching relationship between 3D model and 2D feature.At the same time,in order to improve the efficiency of the algorithm,multi template matching is introduced to reduce the fitting time of pose solution.Finally,the experimental results show the effectiveness of the proposed algorithm in the practical antenna panel AR wiring assembly system.

关 键 词：增强现实 装配指引 位姿解算 边缘特征 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]