| At present,with the continuous development of science and economy,binocular stereo vision technology is increasingly used in various fields such as industrial inspection,aerospace,and biomedicine due to its low equipment cost,high precision,and non-contact advantages.In this paper,the key technologies of binocular stereo vision are studied in the current problems in industrial production and industrial inspection,and a method for bin box and bin lid identification and positioning based on binocular stereo vision is proposed.This mainly completes the following work:First of all,in this paper,we first address the problem that the detection of feature points is inaccurate due to the coating on the surface of the object,designed a light compensation algorithm based on the bicubic interpolation method.The algorithm is helpful to improve the applicability of the parameters of the subsequent two images in the image processing algorithm or the threshold selection and the accuracy of extracting the left and right image feature points.Second,analyze the target artifacts in this paper,mainly for the surface of the workpiece and the shape recognition features of the workpiece.In this paper,based on the characteristics of the barrel box feature points,a feature point contour extraction method based on connected area is designed and a feature point extraction method based on Hough circle and linear transformation is designed according to the characteristics of the barrel cover feature points.Third,in-depth study of image processing technology.According to the characteristics of the original image,after a comparative study of various algorithms,a suitable image processing scheme was determined.Including the filter of the barrel box and the lid image,the edge detection of the lid and binarization of the barrel.Finally,the three-dimensional coordinates of the feature points are calculated using the principle of three-dimensional reconstruction.Fourth,according to the application environment of this paper,we have developed a binocular stereo vision hardware system.According to the detection environment,the binocular stereo vision system is calibrated and stereo images are corrected for the collected images.Finally,this paper developed a set of application software based on OPENCV and MFC,successfully achieved the calculation of two-dimensional feature points and the calculation of three-dimensional coordinates,verified the accuracy and stability of three-dimensional coordinates through experiments.The experimental results show that the three-dimensional coordinates of the workpiece feature points can be calculated by binocular stereo vision,and have high accuracy and stability. |
