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激光雷达融合机器视觉的物流分拣多目标视频跟踪

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为了实现物流分拣多目标精准跟踪，提出一种激光雷达融合机器视觉的物流分拣多目标视频跟踪方法。通过激光雷达采集检测环境内的点云数据，并对其滤波处理。将机器视觉采集的物流分拣视频去噪，采用Sobel边缘检测算子检测去噪后的图像边缘，引入分裂合并算法对去噪图像展开多区域分割处理，获取比较明显的多目标视频区域。利用透视变换原理对图像数据融合处理，实时确定目标位置，实现物流分拣多目标视频跟踪。经过实验测试证明，所提方法的物流分拣多目标视频跟踪结果准确率超过95％，且延误时间控制在13 ms以内。
Multi-target video tracking of logistics sorting based on lidar and machine vision
There are many obstacles in the working environment of logistics sorting robots,so a research method for autonomous navigation of logistics sorting robots based on laser SLAM is proposed.Using laser SLAM to determine the distribution of obstacles in the robot's working environment;Add the target bias strategy to the RRT*algorithm,and by setting fixed and variable probability target bias strategies,make the path nodes more directional when traver-sing the target points,better avoiding collisions between robots and obstacles,and then use the search random tree to search for the shortest path among them.Comparative experiments have shown that compared with conventional meth-ods,this method can guide the robot to follow the shortest path between the starting point and the target point,and the navigation process takes less time,resulting in an error rate and energy consumption of about 5％for robot autonomous navigation.

laser radarintegrationmachine visionlogistics sortingmulti-target video tracking

蒋文娟、刘经天、邵开丽

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黄河科技学院工学部,郑州 450000

郑州工程技术学院,郑州 450000

激光雷达 融合 机器视觉 物流分拣 多目标视频跟踪

河南省科技厅科技攻关计划河南省高等学校重点科研项目河南省教育厅民办教育品牌专业建设项目教育部产学合作协同育人项目黄河科技学院优秀基层教学组织建设项目郑州市基础研究及应用基础研究项目

18210231110022A520033ZLG209103201802070068jxzz201806ZZSZX202107

2024

10.14016/j.cnki.jgzz.2024.06.221

激光杂志
重庆市光学机械研究所

激光杂志

CSTPCD北大核心
影响因子：0.74
ISSN：0253-2743
年,卷(期)：2024.45(6)
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