西安工程大学学报2018，Vol.32Issue(1)：114-120,7.DOI:10.13338/j.issn.1674-649x.2018.01.019
面向装配机器人的零件视觉识别与定位方法
Component oriented visual recognition and positioning method for assembly robots
摘要
Abstract
Aiming at the problem of low accuracy of recognition and localization caused by com-plex backgrounds and parts shape diversity in the assembly process,a method of part recogni-tion and localization combining SURF algorithm,FREAK algorithm,Hamming distance and affine transformation is proposed.Firstly,the feature points of the assembly parts are described by SURF and FREAK algorithms,followed by the Hamming distance as the similarity meas-ure of the matching points.Finally,the RANSAC algorithm is used to eliminate the pairs of in-valid matching points.Through the template images and the image of the assembly parts,four parameters affine transformation model is set;combined with affine transformation,the center of mass assembly coordinates is obtained;and then the calibration parameters of the visual sys-tem are used to get the center of mass world coordinates.The experimental results show that this method can realize the rapid and accurate recognition and localization of the assembly parts.关键词
装配机器人/SURF算法/视觉识别/FREAK算法/RANSAC算法/仿射变换/特征匹配Key words
assembly robots/SURF algorithm/visual recognition/FREAK algorithm/RANSAC algorithm/affine transformation/feature maching分类
信息技术与安全科学引用本文复制引用
范荻,金守峰,陈蓉,高磊..面向装配机器人的零件视觉识别与定位方法[J].西安工程大学学报,2018,32(1):114-120,7.基金项目
陕西省自然科学基础研究计划项目(2017JM5141) （2017JM5141）
陕西省教育厅专项科研计划项目(18JK0334) （18JK0334）
西安工程大学研究生创新基金资助项目(CX201713) （CX201713）
