To solve the problem of inability to accurately obtain the target scrap point cloud for size es-timation due to open and complex scenes in the process of steel recycling,a target point cloud extrac-tion algorithm based on the prediction mask generated by the Mask R-CNN model and adaptive color thresholding technique is proposed.For the incomplete edge segmentation of the Mask R-CNN model,the point cloud is intercepted through the prediction frame,the adaptive color filter threshold is used to filter the intercepted point cloud in HSV color space to discretize the non-target point cloud,and fi-nally the target point cloud is segmented through European clustering and dimensionally estimated.The effectiveness of the algorithm is verified by simulating the recovery scene of the B-pillar of the scrapped car and obtaining the point cloud of the B-pillar of the car.
维普
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