Target Recognition And Localization Of Industrial Robot Based On Binocular Vision

Machine vision has always been one of the most important researches direction of intelligent field.Among them,the application field of binocular stereo vision is more and more extensive.In industrial production,machine vision is mainly utilized for Visual Inspection Systems,Automatic Assembly System and Vision Pilot.Due to the advantages of non-contact,high precision,high speed and easy automation,it has become the one of the most widely used 3D measurement methods.In this paper,It will primarily explore the target recognition and localization technology of industrial robot based on binocular vision,which mainly include camera calibration,object recognition,feature extraction and matching,3D information acquisition.First of all,the study will respectively analyze the principle of camera imaging,the relationship between the coordinate system in binocular stereo vision as well as the possible distortion types by reviewing a number of literature.The camera calibration scheme will be selected to meet the precision of the target object,and then it will obtain the internal and external parameters of the camera after the specific calculations,contributing to later building the models of binocular vision system.Secondly,The research will gain the image preprocessing and then complete the target recognition.Through the study of Harris operator and SIFT operator,the Harris operator is chose to extract and screen the corner of the image.With the application of feature matching algorithm based on polar constraint,the research will establish the corresponding relationship between a pair of acquisition feature points in the image This method has strong stability and good robustness,and could makes the two dimensional conversion into one dimension which may helpful to enhance the matching accuracy and speed.Finally,the 3D coordinate information of the target is calculated by using the coordinate set of the target and the camera calibration results.This study will establish industrial robot system based on binocular vision and verify the acquired 3D information.Based on the analysis of the experimental results,the paper will summarize the possible errors in the experiment and provide the future research directions.