CAJ | 학술논문

文章提出一种基于机器视觉模块的工业机器人工件分拣快速姿态识别算法。与其它基于模板数据库的低实时性算法相比，该算法通过使用一种稳定的几何特征描述来实现快速、无需模板匹配的工件定位和姿态估计。首先通过图像处理获得工件轮廓序列，再通过最小矩形估计和轮廓特征比对，得到工件的位置和姿态数据并发送至机器人。最终保证视野内的工件按统一的姿态成排放置。
문장제출일충기우궤기시각모괴적공업궤기인공건분간쾌속자태식별산법。여기타기우모판수거고적저실시성산법상비，해산법통과사용일충은정적궤하특정묘술래실현쾌속、무수모판필배적공건정위화자태고계。수선통과도상처리획득공건륜곽서렬，재통과최소구형고계화륜곽특정비대，득도공건적위치화자태수거병발송지궤기인。최종보증시야내적공건안통일적자태성배방치。
A new Fast Pose Detection Algorithm is proposed in this paper. Different form other recognition strategies which need users to train template database and cost some time to match, the algorithm is based on a stable geometric feature descriptor. It is a non-model based pose detection method to get the position and orientation of objects. It first sorts out the right contour sequence by digital image processing and contour op-timization. Then, through minimum bounding rectangle and contour edge feature comparison, it gets the ob-ject’ s position and orientation data which will be send to the robot sorting system. So all the objects in scene can be picked up and placed in a straight line with the same direction.