Detection And Tracking Of Multiple Objects Based On Kinect And 3D Laser Scanner Cooperation

Industrial robot is an important automated equipment in one of the modern manufacturing i ndustry with the combination of mechanical engineering,electronic engineering,control scien ce and some other advanced technology.In this paper,the Kinect and 3D laser system work a re combined together to achieve the accurate perception of industrial robot on the workplace.Then algorithm of 3D point cloud processing is used to extract the point cloud information of the workplace.The research of this paper can be used in the field of artificial intelligence such as industrial robot monitoring working environment.An experimental platform of the industrial robot using Kinect and the 3D laser has been bui lt in the laboratory,and a method of on-line detection of the workplace based on the Kinect an d the 3D laser is designed for data acquisition.In order to achieve the perception of objects in the workspace,sensors are combined together to acquire point cloud Matrix,and the SVM cla ssifier is used on the work space to classify the workpieces and human hand.Despite the favorable real-time feature of Kinect sensor,defects exist as sparse point cloud and insufficient accuracy of data.For another,the accuracy of 3D laser distance measuring system and of the point cloud generated by the system is high,but the low speed of acquiring point cloud and the contradiction between the accuracy and scanning rate appear as problems.Therefore,combining these two types of sensor and making them work cooperatively can develop mutual advantages and make up disadvantages.The synergetic online detecting with Kinect sensor and 3D laser distance measuring system operate by target detection to acquire the work object first.With the point cloud of the work space acquired by the Kinect sensor,the work object is extracted.Then the division of the work space is completed by converting the point cloud of the work object in the coordinates of the Kinect sensor to be in the coordinates of 3D laser distance measuring system and calculating the angles in real-time.The information of point cloud and work space can be acquired in different scan modes as fine scan mode and quick scan mode.It can be conducive to promote the efficiency and accuracy of the industrial robot to acquire the precise size and position information of the work object.