计算技术与自动化2025，Vol.44Issue(3)：83-87,5.DOI:10.16339/j.cnki.jsjsyzdh.202503015
基于点云特征提取与匹配算法的智能电表检定线机器人位姿校正方法
Smart Meter Checking Line Robot Position Correction Method Based on Point Cloud Feature Extraction and Matching Algorithm
鲁观娜 1李亮 1王慧楠 1吕言国 1高帅1
作者信息
- 1. 国网冀北电力有限公司计量中心,北京 102208
- 折叠
摘要
Abstract
The residual pose difference compensation process of robots ignores the impact of image scaling on feature ex-traction mapping relationships,resulting in poor correction accuracy.A robot pose correction method for intelligent meter calibration line based on point cloud feature extraction and matching algorithm is proposed.Combining the FAST key point algorithm,extract point cloud features within the designated range to avoid the problem of scale invariance and construct a normal distribution map;Correct the probability of mismatched feature points,solve the actual pose of the robot,and com-pensate the pose increment to the actual pose information by comparing the correlation between the pose feature points and the normal distribution map,achieving pose correction.The experimental results show that under complex environments and dynamic changing conditions,the pose increment is low,and it has high accuracy and stability.When correcting the robot's posture,it has a high correction accuracy.关键词
点云特征/特征匹配/机器人/位姿校正Key words
point cloud features/feature matching/robot/positional correction分类
信息技术与安全科学引用本文复制引用
鲁观娜,李亮,王慧楠,吕言国,高帅..基于点云特征提取与匹配算法的智能电表检定线机器人位姿校正方法[J].计算技术与自动化,2025,44(3):83-87,5.
