Laser & Optoelectronics Progress, Volume. 59, Issue 14, 1415028(2022)
Object Attitude Perception Method Based on Depth Camera
Figures & Tables(8)
Fig. 1. Example diagram of sleeper cutting image processing. (a) RGB diagram; (b) depth map; (c) end face binarization diagram; (d) diagram of image processing result
Fig. 2. RGB diagrams of workpiece with successful image processing. (a) RGB drawing of workpiece 1; (b) RGB drawing of workpiece 2
Fig. 5. Repetitive line graph of Euler angle and translation of object in the first attitude
Fig. 6. Repetitive line graph of Euler angle and translation of object in the second attitude
Fig. 7. Repetitive line graph of Euler angle and translation of object in the third attitude
Table 1. Three postures of the object relative to the camera in the experiment
View tableTable 1. Three postures of the object relative to the camera in the experiment
Attitude Rotation（X）/（°） Rotation（Y）/（°） Rotation（Z）/（°） translation（X）/mm translation（Y）/mm translation（Z）/mm Attitude 1 -7.714 1.727 1.663 -5.807 -28.484 228.57 Attitude 2 68.110 88.973 72.399 47.436 -3.086 270.11 Attitude 3 -1.055 0.322 4.365 47.314 3.110 270.06
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Li Dong, Maohai Hu, Zhirong Yang. Object Attitude Perception Method Based on Depth Camera[J]. Laser & Optoelectronics Progress, 2022, 59(14): 1415028
Paper Information
Category: Machine Vision
Received: Sep. 23, 2021
Accepted: Oct. 19, 2021
Published Online: Jul. 1, 2022
The Author Email: Maohai Hu (hmh@njust.edu.cn)
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