电子测量与仪器学报

葛俊辉,李婕瑄,彭以平,赵宏,肖昌炎.基于互补视角的喷涂工件快速重建[J].电子测量与仪器学报,2022,36(4):152-159

基于互补视角的喷涂工件快速重建

Fast reconstruction of spray-painting workpiece based oncomplementary perspectives imaging

DOI：

中文关键词: 机器视觉喷涂工件重建多 RGB-D 相机双面标定板外参标定

英文关键词:machine vision reconstruction of spray-painting workpiece multiple RGB-D cameras two-sided calibration plate extrinsic parameter calibration

基金项目:国家自然科学基金(62073128)、江西省自然科学基金(20202BAB212004)项目资助

作者	单位
葛俊辉	1. 湖南大学机机器人视觉感知与控制技术国家工程实验室
李婕瑄	1. 湖南大学机机器人视觉感知与控制技术国家工程实验室
彭以平	1. 湖南大学机机器人视觉感知与控制技术国家工程实验室
赵宏	2. 国防科技大学空天科技学院
肖昌炎	1. 湖南大学机机器人视觉感知与控制技术国家工程实验室

Author	Institution
Ge Junhui	1. National Engineering Laboratory for Robot Visual Perception and Control Technology, Hunan University
Li Jiexuan	1. National Engineering Laboratory for Robot Visual Perception and Control Technology, Hunan University
Peng Yiping	1. National Engineering Laboratory for Robot Visual Perception and Control Technology, Hunan University
Zhao Hong	2. College of Aerospace Science Engineering, National University of Defense Technology
Xiao Changyan	1. National Engineering Laboratory for Robot Visual Perception and Control Technology, Hunan University

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中文摘要:

喷涂工件的 3D 模型在机器人自动喷涂生产线中具有重要意义,它是机器人喷涂路径规划和自主编程的基础。针对实际喷涂应用中工件的 3D 模型无法获取或与实际工件存在偏差的问题,提出一种基于互补视角的多相机快速建模方法。首先, 采用两个对立装配的 RGB-D 相机,以互补的视角分时采集工件的局部点云;然后基于自制的简易双面标定板,提出一种基于交点共面联合优化的外参标定算法,准确估算无重合视场的多相机相对空间位姿关系;最后根据此位姿关系融合两个相机采集的局部点云,实现喷涂工件的快速 3D 重建。实验表明,本文方法可以完整的重建结构复杂的多面体工件,重建时间低于 160 ms, 误差约为 5. 3 mm。

英文摘要:

In robotic spray painting, 3D model of workpieces plays an important role, requiring information in geometry and shape for path planning or pose estimation. To solve the problem that it is difficult to effectively acquire a 3D workpiece model in practical spraypainting applications, this paper proposes a fast-modeling method based on complementary perspectives with multiple RGB-D cameras. In this method, two RGB-D cameras installed oppositely are used to acquire the local point cloud of the workpiece in a complementary perspective. Then, a special simple two-sided calibration plate is designed to offline calibrate the external parameters of the camera system based on the idea of coplanar joint optimization of intersection points, which is to accurately estimate the transformation matrix between cameras without coincident field of view. Finally, with the calibrated transformation matrix, the local workpiece point clouds with non-overlapping areas online captured from different camera perspectives are fused into a complete 3D workpiece model. Experimental results show that the proposed method can effectively construct the model of polyhedral workpiece with complicated structure, less than 160 ms of reconstruction time, and below 5. 3 mm of error.

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