Technology of Graphic & Image
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App. Res. of Comp. Printed Article
Vol. 36, 2019 No. 2
601-605

Efficient planar object recognition and localization system based on boundary point pair feature

Zhao Yinshuai1,2,3,4
Wu Qingxiao1,3,4
Fu Shuangfei1,3,4
Zhang Zhengguang1,3,4
1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2. University of Chinese Academy of Sciences, Beijing 100049, China
3. Key Laboratory of Opto-Electronic Information Processing, Chinese Academy of Sciences, Shenyang 110016, China
4. Liaoning Province Key Laboratory of Image Understanding & Computer Vision, Shenyang 110016, China
DOI: 10.19734/j.issn.1001-3695.2018.01.0131

Abstract

Aiming at common planar objects in industrial environment(e. g. steel plates), on the basis of the voting-based pose estimation algorithm, this paper proposed an efficient planar object recognition and localization algorithm based on boundary point pair feature, which was successfully applied in the automatic grinding system of steel plates with industrial robot. In addition, the using of pose clustering algorithm as well as methods of pose verification and pose refinement efficiently increased the accuracy and robustness of the system. According to the statistical results of the system in industrial environment, not only the pose localization accuracy is well within the tolerances for the grasping of steel plates, but also the processing time meets the real-time requirement of the system.

Foundation Support

国家自然科学基金—深圳机器人基础研究中心项目(U1713216)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2018.01.0131
Publish at: Application Research of Computers Printed Article, Vol. 36, 2019 No. 2
Section: Technology of Graphic & Image
Pages: 601-605
Serial Number: 1001-3695(2019)02-062-0601-05

Publish History

[2019-02-05] Printed Article

Cite This Article

赵银帅, 吴清潇, 付双飞, 等. 基于边缘点对特征的板型物体识别与定位系统 [J]. 计算机应用研究, 2019, 36 (2): 601-605. (Zhao Yinshuai, Wu Qingxiao, Fu Shuangfei, et al. Efficient planar object recognition and localization system based on boundary point pair feature [J]. Application Research of Computers, 2019, 36 (2): 601-605. )

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Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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