机械科学与技术2025，Vol.44Issue(1)：1-8,8.DOI:10.13433/j.cnki.1003-8728.20240169
双目极线约束下的储罐环焊缝定位算法
Binocular Localization Algorithm for Circular Seam with Epipolar Constraint
摘要
Abstract
Accurate positioning of weld seams is a prerequisite for achieving automated welding.This paper takes the circular seam of storage tank as the welding target and investigates the weld seam positioning algorithm based on epipolar constraint,based on binocular vision system.Firstly,the imaging model of the binocular system and the principle of triangulation measurement are analyzed,providing a theoretical basis for the subsequent three-dimensional positioning of weld seams.Then,the weld seam feature extraction algorithm based on grayscale is studied,which effectively extracts weld seam features by combining edge detection,threshold segmentation,contour extraction and skeleton extraction.Furthermore,the epipolar constraint is used to match the weld seam features of the left and right images,simplifying the matching process and reducing computational costs,thereby improving matching efficiency.The experimental results show that the average error of triangulation measurement for weld seam points is 0.140 106,which meets the requirements of practical engineering.关键词
双目视觉/焊缝提取/视觉定位/极线约束/三角测量Key words
binocular vision/weld extraction/visual positioning/epipolar constraint/triangulation measurement分类
矿业与冶金引用本文复制引用
金东升,曹文田,张英杰..双目极线约束下的储罐环焊缝定位算法[J].机械科学与技术,2025,44(1):1-8,8.基金项目
国家自然科学基金面上项目(51875445) （51875445）
