Recognition Method for Spray-Painted Workpieces Based on Mask R-CNN and Fast Point Feature Histogram Feature Pairing

Junhui Ge; Jian Wang; Yiping Peng; Jiexuan Li; Changyan Xiao; Yong Liu

doi:10.3788/LOP202259.1415016

Laser & Optoelectronics Progress, Volume. 59, Issue 14, 1415016(2022)

Recognition Method for Spray-Painted Workpieces Based on Mask R-CNN and Fast Point Feature Histogram Feature Pairing

Junhui Ge¹, Jian Wang¹, Yiping Peng¹, Jiexuan Li¹, Changyan Xiao^1、**, and Yong Liu^2、*

Author Affiliations

¹College of Electrical and Information Engineering, Hunan University, Changsha 410082, Hunan , China

²Zhejiang Tongji Vocational College of Science and Technology, Hangzhou 311231, Zhejiang , China

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Figures & Tables(10)

Fig. 1. Algorithm framework of workpiece recognition combining Mask R-CNN and 3D feature paring

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Fig. 2. Results of Mask R-CNN instance segmentation. (a) Example of correct identification; (b) example of misidentification

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Fig. 3. Topological structure of affine consistence

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Fig. 4. Workpiece samples

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Fig. 5. Evaluation index

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Fig. 6. Recognition results with different workpieces

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Fig. 7. Comparison with different methods

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Table 1. Process and result of recognition with different workpiece
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Table 1. Process and result of recognition with different workpiece
Process Detonating cover 1 Upper plate 1 Upper plate 2
Original image
Instance segmentation
3D point cloud
Filtering preprocessing
Extraction of ISS key points
Recognition based on featurepairs verification

Table 2. Recognition results
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Table 2. Recognition results
Parameter $P_{r}$ $R_{c}$ $F_{1}$
Value 99.10 99.43 99.26

Table 3. Running time

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Table 3. Running time

Workpiece	Dimension /（m×m×m）	Num /10⁴	Coarse /ms	Fine /ms	Time /ms
Detonating cover 1	0.85×0.82×0.50	11.90	315	887	1202
Weld holder	2.40×0.65×0.03	17.65	332	1064	1396
Upper plate 2	0.75×0.75×1.35	5.92	310	524	834

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Junhui Ge, Jian Wang, Yiping Peng, Jiexuan Li, Changyan Xiao, Yong Liu. Recognition Method for Spray-Painted Workpieces Based on Mask R-CNN and Fast Point Feature Histogram Feature Pairing[J]. Laser & Optoelectronics Progress, 2022, 59(14): 1415016

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