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基于图像边缘特征的零件分类与定位算法
Authors
卜伟
彭成斌
+4 more
徐显兵
潘江锋
王少剑
肖江剑
Publication date
30 September 2018
Publisher
Abstract
本论文提出了一种基于图像边缘特征的零件分类与定位算法。算法首先对图像腐蚀膨胀等预处理,然后通过边缘检测得零件的完整边缘轮廓,然后对零件边缘轮廓图像使用方向梯度直方图(HOG)构造训练数据,并采用支持向量机(SVM)在训练数据上训练分类识别模型,最后进行检测。根据检测结果获得图像中零件的种类和位置信息,然后使用棋盘格标定的方法来确定深度。标定时,取标定板上的两个点来计算深度,根据已知的深度,获取实际抓取点的两个图像坐标系的x,y值,计算世界坐标系坐标。此系统能解决零件分类、定位问题,能广泛运用于生产线引导工业机器人进行零件抓取
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Last time updated on 27/12/2019