基于图像的客车点云边缘提取方法  

Image-based Edge Extraction Method for Bus Point Cloud

作　　者：张鉴裕 沈南燕[1,2] 李静[1,2] 

机构地区：[1]上海大学机电工程与自动化学院,上海200444 [2]上海大学上海市智能制造及机器人重点实验室,上海200444

出　　处：《工业控制计算机》2024年第10期88-89,92,共3页Industrial Control Computer

摘　　要：目前客车车身机器人打磨路径规划主要依赖于人工示教,为提高打磨效率,提出一种利用激光线扫相机获取客车点云,融合二维图像处理的点云边缘高效提取方法。基于边缘提取结果,利用切片法生成打磨轨迹规划,进行了实车打磨验证。Currently,the robot polishing path planning for bus body mainly relies on manual teaching.To enhance polishing efficiency,this paper proposes an efficient point cloud edge extraction method utilizing a laser line-scanning camera to acquire bus point clouds,coupled with a fusion of two-dimensional image processing.Based on the results of edge extraction,a polishing trajectory is generated using a slicing method,and the proposed approach is validated through real vehicle polishing experiments.

关 键 词：客车打磨 点云 边缘提取 图像处理 

分 类 号：U468.22[机械工程—车辆工程] TP391.41[交通运输工程—载运工具运用工程]