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Method for measuring catheter clamped by robot
Authors
于彦凤
付生鹏
+5 more
刘明洋
夏仁波
赵亮
赵吉宾
陈月玲
Publication date
30 April 2021
Publisher
Abstract
本发明涉及一种机器人夹持下的导管测量方法。其步骤为:同步触发多目视觉测量箱内的多个工业相机采集不同视角下的多幅原始图像,借助于过度分割边缘、组合平行边缘对以及剔除错误边缘等方法去除测量过程中夹爪的干扰,然后对边缘图像进行骨架提取得到弯管图像的中轴线,借助于图像分割将中轴线分割成直线段和椭圆段区域,最后利用极线约束对控制点进行三维重建,扫掠得到弯管的三维模型。本发明方法能实现在机器人夹持下的导管测量,能够自动去除夹爪的干扰,有效的重建管路的三维模型,得到的精确的控制点,鲁棒性强、精度高、效率高
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Last time updated on 23/06/2021