基于机器视觉的工业机器人分拣研究全控制

Research on Industrial Robot Sorting Control Based on Machine Vision

采用Matlab相机对仪器进行校准,并安装OpenCV相机对库进行校准,并建立双目工业相机模型。利用BM空间匹配算法获得的图像的立体校正,得到了物体的视差。根据相机成像原理,从相机坐标系中的物体获得的三维云对信息进行滤波和分割,并建立点特征评价功能,验证不同区域的特征点,得到稳定可靠的空间位置评价点。

Use matlab camera to calibrate the instrument,install OpenCV camera to calibrate the library,and establish binocular camera model.Using the stereo correction of the image obtained by BM spatial matching algorithm,the parallax of the object is obtained.According to the principle of camera imaging,the point cloud information is filtered and segmented from the three-dimensional cloud obtained from the object in the camera coordinate system,and the point feature evaluation function is established to verify the feature points in different regions and obtain stable and reliable spatial position evaluation points.