基于双目视觉的快递包裹体积计量系统
发布时间：2019-01-04 21:25
【摘要】：近年来,电子商务的飞速发展以及公民消费方式的转变,推动了快递行业的高速发展。在包裹运转时,快递公司需要获取包裹体积及三维尺寸信息,用以优化仓储空间、核算运输成本。传统的快递包裹体积测量多为效率低下的接触式测量,随着自动化分拣设备在行业内的普及,各类非接触式二维轮廓扫描设备被应用于体积测量,测量效率与精度大幅提高。然而,基于二维扫描的体积测量设备在对传送带上高速、小尺寸快递包裹体积测量时,测量精度很低。双目立体视觉技术分辨率高、适合动态高速测量,能够弥补二维扫描体积测量方式的不足,在快递包裹体积计量领域有着广阔的应用前景。本文基于双目立体视觉原理,对传送带上高速运动的小尺寸快递包裹的体积测量方法进行了研究。体积测量系统采用两台工业CCD相机构成双目成像系统,基于半全局动态规划算法对成像系统抓拍的快递包裹双目影像实现了立体匹配,获得了包含待测包裹三维空间信息的稠密视差图,最终通过三维重构算法实现了待测包裹体积及三维尺寸的实时计量。文章首先建立了相机的小孔成像模型,研究双目相机的标定方法,并通过8×10的棋盘格标定板,实现了成像系统的预标定。接着重点分析了基于互信息的匹配代价计算方法,给出了多路径动态规划的代价聚合方案。并根据本文给出的算法与几种经典算法的所进行的对比实验,验证了基于半全局动态规划的立体匹配算法的实时性与准确性。最后讨论了在双目视觉快递包裹体积实时计量应用中,快递包裹的快速三维重构及体积计量方法。提出了一种基于视差图多阈值分析的包裹快速定位方法,并通过线性回归分析拟合包裹边缘轮廓,根据预标定的相机投影矩阵实现了待测包裹的三维重构和体积计量。大量快递包裹体积测量实验数据表明,本体积计量系统的平均测量误差低于3%,算法平均用时约为1s,满足快递包裹体积计量系统的测量精度与实时性要求。
[Abstract]:In recent years, the rapid development of e-commerce and the change of citizen consumption mode promote the rapid development of express delivery industry. In order to optimize the storage space and calculate the transportation cost, the express company needs to obtain the information of package volume and three dimensional dimensions when the package is running. With the popularization of automatic sorting equipment in the industry, all kinds of contactless two-dimensional contour scanning equipment are used in volume measurement, and the measuring efficiency and precision are greatly improved. However, the measurement accuracy of the volume measurement equipment based on two-dimensional scanning is very low when measuring the volume of the conveyer belt at high speed and small size. Binocular stereo vision technology has high resolution, suitable for dynamic and high-speed measurement, and can make up for the deficiency of two-dimensional scanning volume measurement. It has a broad application prospect in the field of package volume measurement. Based on the principle of binocular stereo vision, the volume measurement method of small size express package with high speed motion on conveyor belt is studied in this paper. The volume measurement system uses two industrial CCD cameras to form a binocular imaging system. The binocular image captured by the imaging system is stereo matched based on semi-global dynamic programming algorithm. A dense parallax map containing the three-dimensional spatial information of the package under test is obtained, and the real-time measurement of the volume and the three-dimensional size of the package under test is realized through the 3D reconstruction algorithm. In this paper, the aperture imaging model of the camera is established, and the calibration method of binocular camera is studied, and the pre-calibration of the imaging system is realized through the 8 脳 10 checkerboard calibration board. Then, the method of calculating the matching cost based on mutual information is analyzed, and the cost aggregation scheme of multipath dynamic programming is presented. According to the comparison experiments between the algorithm presented in this paper and several classical algorithms, the real-time and accuracy of the stereo matching algorithm based on semi-global dynamic programming are verified. Finally, the fast 3D reconstruction and volume measurement method of express package are discussed in the application of binocular visual package volume real time measurement. In this paper, a method of fast parallax location based on multi-threshold analysis of parallax is proposed, and the contour of parallax is fitted by linear regression analysis. According to the pre-calibrated camera projection matrix, the 3D reconstruction and volume measurement of the package under test are realized. A large number of experimental data show that the average measurement error of the volume measurement system is less than 3 and the average time of the algorithm is about 1 s, which can meet the requirements of the measurement accuracy and real time of the package volume measurement system.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.41
[Abstract]:In recent years, the rapid development of e-commerce and the change of citizen consumption mode promote the rapid development of express delivery industry. In order to optimize the storage space and calculate the transportation cost, the express company needs to obtain the information of package volume and three dimensional dimensions when the package is running. With the popularization of automatic sorting equipment in the industry, all kinds of contactless two-dimensional contour scanning equipment are used in volume measurement, and the measuring efficiency and precision are greatly improved. However, the measurement accuracy of the volume measurement equipment based on two-dimensional scanning is very low when measuring the volume of the conveyer belt at high speed and small size. Binocular stereo vision technology has high resolution, suitable for dynamic and high-speed measurement, and can make up for the deficiency of two-dimensional scanning volume measurement. It has a broad application prospect in the field of package volume measurement. Based on the principle of binocular stereo vision, the volume measurement method of small size express package with high speed motion on conveyor belt is studied in this paper. The volume measurement system uses two industrial CCD cameras to form a binocular imaging system. The binocular image captured by the imaging system is stereo matched based on semi-global dynamic programming algorithm. A dense parallax map containing the three-dimensional spatial information of the package under test is obtained, and the real-time measurement of the volume and the three-dimensional size of the package under test is realized through the 3D reconstruction algorithm. In this paper, the aperture imaging model of the camera is established, and the calibration method of binocular camera is studied, and the pre-calibration of the imaging system is realized through the 8 脳 10 checkerboard calibration board. Then, the method of calculating the matching cost based on mutual information is analyzed, and the cost aggregation scheme of multipath dynamic programming is presented. According to the comparison experiments between the algorithm presented in this paper and several classical algorithms, the real-time and accuracy of the stereo matching algorithm based on semi-global dynamic programming are verified. Finally, the fast 3D reconstruction and volume measurement method of express package are discussed in the application of binocular visual package volume real time measurement. In this paper, a method of fast parallax location based on multi-threshold analysis of parallax is proposed, and the contour of parallax is fitted by linear regression analysis. According to the pre-calibrated camera projection matrix, the 3D reconstruction and volume measurement of the package under test are realized. A large number of experimental data show that the average measurement error of the volume measurement system is less than 3 and the average time of the algorithm is about 1 s, which can meet the requirements of the measurement accuracy and real time of the package volume measurement system.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.41
【相似文献】
相关期刊论文 前10条
1 赵令浩;詹秀春;胡明月;范晨子;孙冬阳;刘传宝;;单个熔体包裹体激光剥蚀电感耦合等离子体质谱分析及地质学应用[J];岩矿测试;2013年01期
2 白劲松;;驱龙斑岩铜矿熔体包裹体测温实验方法[J];科技传播;2013年06期
3 孙先达,索丽敏,姜洪启;激光扫描共聚焦显微镜在石油地质上的应用[J];电子显微学报;2004年04期
4 孙先达;张民志;索丽敏;刘彤彦;沈光政;王璞s，
本文编号：2400815
本文链接：https://www.wllwen.com/jingjilunwen/dianzishangwulunwen/2400815.html
