A method is put forward to realize the recognition and guiding of initial welding position. The weld seams are marked with black lines, which simplify the computational complexity of image processing greatly. A two-ti...A method is put forward to realize the recognition and guiding of initial welding position. The weld seams are marked with black lines, which simplify the computational complexity of image processing greatly. A two-time template matching method has been advanced to search for the target point, which is simple and has higher calculation speed. According to the depth computing principle with the special point matching using binocular stereovision, the initial welding position can be confirmed by calculating the middle point of the perpendicular line of two radials in the space. Taking the welding of propellant fuel container for example, good results are obtained with the algorithms. Finally, similar method for terminating welding position is also advanced.展开更多
Robot vision guide is an important research area in industrial automation,and image-based target pose estimation is one of the most challenging problems.We focus on target pose estimation and present a solution based ...Robot vision guide is an important research area in industrial automation,and image-based target pose estimation is one of the most challenging problems.We focus on target pose estimation and present a solution based on the binocular stereo vision in this paper.To improve the robustness and speed of pose estimation,we propose a novel visual tracking algorithm based on Fourier-Mellin transform to extract the target region.We evaluate the proposed tracking algorithm on online tracking benchmark-50(OTB-50)and the results show that it outperforms other lightweight trackers,especially when the target is rotated or scaled.The final experiment proves that the improved pose estimation approach can achieve a position accuracy of 1.84 mm and a speed of 7 FPS(frames per second).Besides,this approach is robust to the variances of illumination and can work well in the range of 250-700 lux.展开更多
基金This project is supported by National Natural Science Foundation of China(No.60474036) and Shanghai Municipal Science and Technology CommitteeFoundation, China (No.021111116).
文摘A method is put forward to realize the recognition and guiding of initial welding position. The weld seams are marked with black lines, which simplify the computational complexity of image processing greatly. A two-time template matching method has been advanced to search for the target point, which is simple and has higher calculation speed. According to the depth computing principle with the special point matching using binocular stereovision, the initial welding position can be confirmed by calculating the middle point of the perpendicular line of two radials in the space. Taking the welding of propellant fuel container for example, good results are obtained with the algorithms. Finally, similar method for terminating welding position is also advanced.
文摘Robot vision guide is an important research area in industrial automation,and image-based target pose estimation is one of the most challenging problems.We focus on target pose estimation and present a solution based on the binocular stereo vision in this paper.To improve the robustness and speed of pose estimation,we propose a novel visual tracking algorithm based on Fourier-Mellin transform to extract the target region.We evaluate the proposed tracking algorithm on online tracking benchmark-50(OTB-50)and the results show that it outperforms other lightweight trackers,especially when the target is rotated or scaled.The final experiment proves that the improved pose estimation approach can achieve a position accuracy of 1.84 mm and a speed of 7 FPS(frames per second).Besides,this approach is robust to the variances of illumination and can work well in the range of 250-700 lux.
