一种基于Mark点的点胶机器人视觉目标定位方法

针对工业生产中PCB点胶机器人的视觉定位问题，提出了一种基于Mark点辅助的视觉定位算法。分析了传统模板匹配、Sift、Surf等算法在Mark点识别与定位中的不足，同时考虑到Mark点所具有的规则几何特征以及算法对于实时性的要求，提出了一种基于Mark点几何特征的改进型模板匹配算法。实验结果表明，这种基于Mark点几何特征的改进型模板匹配算法具有良好的平移、缩放、旋转不变性，能够准确识别并定位Mark点，从而实现对PCB上相关点胶目标点的定位，并满足工程可靠性和实时性的要求。

A method of vision target localization for dispensing robot based on mark point

To address the problem of visual localization of polychlorinated biphenyl (PCB)-dispensing robots in industrial production, a visual localization algorithm based on mark point is proposed in this paper. The results of traditional template matching, Sift and Surf algorithms, were compared and it was found that these algorithms are inadequate for the identification and location of Mark point. Meanwhile, the geometry features of the Mark point and the real-time requirements of the algorithm were considered so that an improved template-matching algorithm based on Mark point geometry features was realized. Experimental results show that this improved template-matching algorithm based on Mark point geometry features can keep good invariance under translation, scale, and rotation, which can accurately identify and locate the mark points, and then indirectly locate the PCB target points while satisfying engineering reliability and real-time constraints.