Research on Pose Detection of Complex Texture Workpiece
To address the pose detection problem of complex texture metal workpieces with planar features in industrial inspection,using binocular vision and DLP projector,taking the local features of the workpiece as the focus of detection,a method of projecting dif-ferential multiline structured light was proposed,which could make the centerlines of the differential structured light compensate each other and reduce the probability of abnormal points on the new centerline.Based on the line alignment properties of epipolar constraint feature points,a stereo matching method for non-coding binocular structured light system was designed,which improved the stability of extracting planar feature points.Then,in order to avoid the defect of irrational weight distribution of traditional fitting model algorithms,Tukey weight function was used to modify those algorithms,which could improve the accuracy of the fitted plane and extracted edges and corners of the workpiece.Finally,the three-axis precision sliding table experiment was performed,the measurement results were com-pared with the 3D measuring machine.It shows that this method meets the measurement requirements.
万方数据
维普
