In this paper,for the three-dimensional reconstruction and parameter acquisition of port bulk cargo pile,the three-dimensional reconstruction method and parameter calculation method of bulk cargo pile in automatic grasping are studied.Firstly,the operation mode and environment of port bulk cargo pile were analyzed,and a three-dimensional reconstruction experimental platform was designed and built.Secondly,the point cloud data was rotated and transformed from two-dimensional point cloud to three-dimensional point cloud by using point cloud mosaic technology.Finally,the coordinates of the highest point were obtained by calculating the extreme value and using the extreme value index,and the length,width and other data of the pile were obtained through the AABB bounding box for the calculation of the floor area of the bulk cargo pile.
维普
万方数据