基于单目视觉的工件定位技术研究

针对普通工件的位姿定位问题,文中提出了一种使用单目视觉平台和CAD模型的工件定位方案。为了阐明该方案的具体设计,基于单目相机的标定方法引入工件图像识别的相关技术,设计了工件的图像预处理过程,并提出基于CAD模型的单目视觉定位算法。实验测试结果表明,与基于先验性关系的定位方案相比,该定位方案具有更高的精度和较好的灵活性,可以满足普通工件的定位需要。

Research on Workpiece Location Technology Based on Monocular Vision

Aiming at the problem of position and pose location of common workpiece, a workpiece location scheme using monocular vision platform and CAD model was proposed. In order to clarify the specific design of this scheme, this paper introduced the calibration method of monocular camera, the related technology of workpiece image recognition, designed the image preprocessing process of workpiece, and finally proposed a monocular vision localization algorithm based on CAD model. The experimental results showed that, compared with the location scheme based on priori relationship, the location scheme had higher accuracy and better flexibility, and could meet the needs of common workpiece location.