摘要
以披萨厨师机器人为研究对象,提出了一种基于RGB-D传感器所提供的实时点云数据对弹性形变的3D无纹理对象进行跟踪的方法。着重分析了视觉分割的时间一致性和实时性问题;通过有限元分析的方法建立了带有轮廓加权的同向旋转FEM模型;论述了注册点云数据方法,提出了跟踪合成数据与披萨面坯实际图像的算法,采用模拟开放框架架构模拟器,验证了算法的有效性。
Aiming at the tracking problem of elastic deformable objects,a control method based on RGB-D sensor of pizza chef robot was proposed in this study.An in-depth study on the difficult problem of dough tracking and recognition in pizza making.A method to track 3 Dtextured objects with elastic deformation based on real-time point cloud data provided by RGB-D sensor was also proposed. Firstly, the Grabcut in the visual segmentation was described in detail, and the temporal consistency and real time of the visual segmentation were emphatically analyzed.Secondly,the FEM model with contour weighting was established by finite element analysis.Finally,the method of registration point cloud data was discussed in detail to realize the tracking and recognition of deformable objects.In order to evaluate the proposed method,the validity of the proposed algorithm was verified by using the simulated open frame architecture(SOFA)simulator.The research results showed a positive significance for the quick response of pizza chef robot in food cooking process.
作者
李凌乐
李瑞华
LI Ling-le;LI Rui-hua(Engineering Training&Technology Center,Xuchang University,Xuchang,Henan 461000,China)
出处
《食品与机械》
北大核心
2020年第2期100-104,共5页
Food and Machinery
基金
河南省科技厅科技攻关重点项目(编号:172102210094)。
