Title:
METHOD FOR CALCULATING POSITION AND ORIENTATION OF THREAD-CONTAINING TARGET OBJECT BASED ON POINT CLOUD DATA
Document Type and Number:
WIPO Patent Application WO/2020/113977
Kind Code:
A1
Abstract:
Provided in the present invention is a method for calculating a position and orientation of a thread-containing target object based on point cloud data. The method comprises the following steps: 1) marking the plane where a fixed thread-containing target object intersects with another object as a first plane, and acquiring point cloud data; and fitting a plane equation of the first plane to obtain a normal vector; 2) making N planes Ci perpendicular to the first plane, and selecting the thread point cloud data falling on the same plane Ci for straight line fitting to obtain a straight line Li; 3) making a plurality of parallel planes Pj of the first plane in a thread point cloud data distribution area; 4) selecting the intersection point of the straight line Li and the plane Pj, and using points in the same plane to fit an ellipse to acquire coordinates of a central point; and 5) performing straight line fitting on coordinates of a plurality of central points, and then obtaining the included angle between an axis L and the specific plane to obtain the included angle between the thread-containing target object and the specific plane. According to the method, the position and orientation data of the thread-containing target object can be calculated after the point cloud data of the thread-containing target object is obtained, and the method is accurate and real-time, and is applicable to on-line detection.
Inventors:
YU PENG (CN)
ZHANG NANNAN (CN)
GUO LEI (CN)
ZHANG NANNAN (CN)
GUO LEI (CN)
Application Number:
PCT/CN2019/098666
Publication Date:
June 11, 2020
Filing Date:
July 31, 2019
Export Citation:
Assignee:
ISVISION TIANJIN TECH CO LTD (CN)
International Classes:
G01C11/00; G06T7/68; G06T7/73
Foreign References:
| CN109631847A | 2019-04-16 | |||
| CN105021124A | 2015-11-04 | |||
| CN108416809A | 2018-08-17 | |||
| JPH1130514A | 1999-02-02 |
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