Three-dimensional identification and positioning method of cuboid-shaped object based on line structured light

The invention relates to a three-dimensional identification and positioning method of a cuboid-shaped object based on line structured light. The method comprises a step of using a structured light measurement sensor to periodically scan a conveyor belt to acquire images, a step of using a gravity center method to extract structured light data in the images, a step of determining the structured light data of the cuboid-shaped object to obtain left and right endpoint image coordinates, a step of carrying out refinement processing on the left and right endpoint image coordinates, a step of converting the left and right endpoint image coordinates into three-dimensional space coordinates a step of carrying out image splicing, a step of carrying out cuboid-shaped object target segmentation, anda step of calculating long edge center three-dimensional coordinates (or centroid three-dimensional coordinates) and a rotation angle of the cuboid-shaped object. According to the method, the on-line,real-time, automatic and