An improved method for accurately extracting feature information of robot environment modeling based on stereo vision

Yang Liu; Qingjia Lv; Peng Wang; Weizhen Yang; Huihui Wang; Xu Zang; Baogang Wen; Song Gao; Tengsen Wang; Caihong Wang

doi:10.1117/12.2613411

8 July 2022 An improved method for accurately extracting feature information of robot environment modeling based on stereo vision

Yang Liu, Qingjia Lv, Peng Wang, Weizhen Yang, Huihui Wang, Xu Zang, Baogang Wen, Song Gao, Tengsen Wang, Caihong Wang

Author Affiliations +

Proceedings Volume 12282, 2021 International Conference on Optical Instruments and Technology: Optoelectronic Measurement Technology and Systems; 122820W (2022) https://doi.org/10.1117/12.2613411
Event: 2021 International Conference on Optical Instruments and Technology, 2022, Online Only

Abstract

Robot 3D vision inspection plays a very important role in intelligent manufacturing process such as automated picking, obstacle avoidance, path planning and so on. Recently, there is a need for a fast detection method that has applicability to complex environments, strong anti-interference capabilities, and balances speed and accuracy to meet the above requirements. An environment feature detection method based on laser-assisted machine vision is proposed. By illuminating the grid structure to the target scene, the binocular camera is used to collect the grid image on the surface of the target scene. Then A two-step feature extraction method is proposed, which is locating the feature position quickly first, and then accurately obtaining the coordinate of the feature point. Firstly, an improved fast extraction method is proposed to realize the fast recognition of feature points. Secondly, in the aspect of accurate acquisition, a new improved steger fitting method is proposed to accurately extract the position of feature points. Finally, fast matching and reconstruction of the exact position of feature points on the two images collected by binocular camera are implemented to achieve fast and high precision 3D detection. This experiment has verified the rationality of the system scheme, the correctness, the precision and effectiveness of the relevant methods.

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Yang Liu, Qingjia Lv, Peng Wang, Weizhen Yang, Huihui Wang, Xu Zang, Baogang Wen, Song Gao, Tengsen Wang, and Caihong Wang "An improved method for accurately extracting feature information of robot environment modeling based on stereo vision", Proc. SPIE 12282, 2021 International Conference on Optical Instruments and Technology: Optoelectronic Measurement Technology and Systems, 122820W (8 July 2022); https://doi.org/10.1117/12.2613411

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KEYWORDS

Feature extraction

Structured light

3D modeling

Image processing

3D acquisition

3D vision

Environmental sensing

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