摘要
喷涂工件的3D模型在机器人自动喷涂生产线中具有重要意义,它是机器人喷涂路径规划和自主编程的基础。针对实际喷涂应用中工件的3D模型无法获取或与实际工件存在偏差的问题,提出一种基于互补视角的多相机快速建模方法。首先,采用两个对立装配的RGB-D相机,以互补的视角分时采集工件的局部点云;然后基于自制的简易双面标定板,提出一种基于交点共面联合优化的外参标定算法,准确估算无重合视场的多相机相对空间位姿关系;最后根据此位姿关系融合两个相机采集的局部点云,实现喷涂工件的快速3D重建。实验表明,本文方法可以完整的重建结构复杂的多面体工件,重建时间低于160 ms,误差约为5.3 mm。
In robotic spray painting,3 D model of workpieces plays an important role,requiring information in geometry and shape for path planning or pose estimation.To solve the problem that it is difficult to effectively acquire a 3 D workpiece model in practical spray-painting applications,this paper proposes a fast-modeling method based on complementary perspectives with multiple RGB-D cameras.In this method,two RGB-D cameras installed oppositely are used to acquire the local point cloud of the workpiece in a complementary perspective.Then,a special simple two-sided calibration plate is designed to offline calibrate the external parameters of the camera system based on the idea of coplanar joint optimization of intersection points,which is to accurately estimate the transformation matrix between cameras without coincident field of view.Finally,with the calibrated transformation matrix,the local workpiece point clouds with non-overlapping areas online captured from different camera perspectives are fused into a complete 3 D workpiece model.Experimental results show that the proposed method can effectively construct the model of polyhedral workpiece with complicated structure,less than 160 ms of reconstruction time,and below 5.3 mm of error.
作者
葛俊辉
李婕瑄
彭以平
赵宏
肖昌炎
Ge Junhui;Li Jiexuan;Peng Yiping;Zhao Hong;Xiao Changyan(National Engineering Laboratory for Robot Visual Perception and Control Technology,Hunan University,Changsha 410082,China;College of Aerospace Science Engineering,National University of Defense Technology,Changsha 410003,China)
出处
《电子测量与仪器学报》
CSCD
北大核心
2022年第4期152-159,共8页
Journal of Electronic Measurement and Instrumentation
基金
国家自然科学基金(62073128)
江西省自然科学基金(20202BAB212004)项目资助
关键词
机器视觉
喷涂工件重建
多RGB-D相机
双面标定板
外参标定
machine vision
reconstruction of spray-painting workpiece
multiple RGB-D cameras
two-sided calibration plate
extrinsic parameter calibration
作者简介
葛俊辉,2011年于洛阳理工学院获得学士学位,2014年于中南大学获得硕士学位,现为湖南大学在读博士,主要研究方向为3D计算机视觉、点云配准、3D重建、机器学习、图像处理等。E-mail:gjh_0809@hnu.edu.cn;肖昌炎,1994年于国防科技大学获得学士学位,1997年于国防科技大学获得硕士学位,2004年于上海交通大学获得博士学位,现为湖南大学教授,主要研究方向为图像处理与人工智能。E-mail:c.xiao@hnu.edu.cn
