激光雷达融合机器视觉的物流分拣多目标视频跟踪
Multi-target video tracking of logistics sorting based on lidar and machine vision
蒋文娟 1刘经天 2邵开丽1
作者信息
- 1. 黄河科技学院工学部,郑州 450000
- 2. 郑州工程技术学院,郑州 450000
- 折叠
摘要
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.
Abstract
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.
关键词
激光雷达/融合/机器视觉/物流分拣/多目标视频跟踪Key words
laser radar/integration/machine vision/logistics sorting/multi-target video tracking引用本文复制引用
基金项目
河南省科技厅科技攻关计划(182102311100)
河南省高等学校重点科研项目(22A520033)
河南省教育厅民办教育品牌专业建设项目(ZLG209103)
教育部产学合作协同育人项目(201802070068)
黄河科技学院优秀基层教学组织建设项目(jxzz201806)
郑州市基础研究及应用基础研究项目(ZZSZX202107)
出版年
2024
NETL
NSTL
万方数据