Target recognition and positioning method for steel structure spraying robot based on binocular vision

Lingxiu Zhang; Guangming Zhang; Song Ding

doi:10.1117/12.2611378

22 October 2021 Target recognition and positioning method for steel structure spraying robot based on binocular vision

Lingxiu Zhang, Guangming Zhang, Song Ding

Proceedings Volume 11928, International Conference on Image Processing and Intelligent Control (IPIC 2021); 119280K (2021) https://doi.org/10.1117/12.2611378
Event: International Conference on Image Processing and Intelligent Control (IPIC 2021), 2021, Lanzhou, China

Abstract

Aiming at the problem of spraying target identification and positioning of steel structure fireproof coating spraying robot, the stereo imaging model of binocular camera is established, and the collected binocular images are preprocessed by distortion correction and epipolar rectification. The application of multi-grid method in stereo matching and depth image calculation were studied, and the effect of multi-layer perceptron neural networks classifier (MLP) on segmentation of steel structure region in color image was researched. The experimental results in real scenes show that the error between the binocular vision measurement results and the actual distance is less than 2.5%. MLP classifier can effectively separate the target region from the color image, and further crop the depth image in this region to obtain the depth image containing only the target information.

Citation Download Citation

Lingxiu Zhang, Guangming Zhang, and Song Ding "Target recognition and positioning method for steel structure spraying robot based on binocular vision", Proc. SPIE 11928, International Conference on Image Processing and Intelligent Control (IPIC 2021), 119280K (22 October 2021); https://doi.org/10.1117/12.2611378

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KEYWORDS

Cameras

Image segmentation

Image processing

Distortion

RGB color model

Target recognition

Calibration

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