摘要
为了实现对港口集装箱中纸箱垛的快速定位与拆垛,需要获得纸箱垛最外层清晰的全景图像。基于自主研制的自动卸货车,采用两摄像头多轮次单程拍摄的方法获取待拼接图像,在单轮次图像拼接中引入Hu不变矩寻找参考图像和待配准图像之间最佳重叠区域,并使用优化的动态规划方法搜索最佳缝合线,以此快速获得清晰的大视野图像。试验表明,基于Hu不变矩和最佳缝合线的全景图像拼接在特征点匹配上减少20%以上的时间,并可以较好地消除因拍摄角度造成的鬼影。
In order to realize the rapid destacking of carton stacks in port containers,it is necessary to quickly splice out a clear panoramic image of the outermost layer of carton stacks to obtain the exact coordinates of cartons.In this paper,based on the self-developed unloading truck,the method of multi-round one-way shooting by two cameras is used to obtain the image to be stitched.In the single-round image stitching,Hu invariant moments are introduced to find the best overlap area between the reference image and the image to be registered,and the optimal dynamic programming method is used to search for the best stitching line,so as to quickly obtain a clear large field of view image.Experiments show that the panoramic image stitching based on Hu invariant moment and optimal stitching line can reduce the time of feature point matching by more than 20%,and eliminate the ghost phenomenon caused by the shooting angle problem.
出处
《工业控制计算机》
2023年第7期60-63,共4页
Industrial Control Computer
