Aircraft engine blade detection method based on RGB-D camera

The invention discloses an aircraft engine blade detection method based on an RGB-D camera, and the method comprises the steps: carrying out the scanning of an engine blade based on the RGB-D camera,obtaining the RGB-D data of the blade, removing the noise in a depth image through bilateral Bayesian filtering, and carrying out the estimation of an external parameter T of an RGB-D sensor through the depth data; calculating RGB-D point cloud according to the sensor internal reference K data, carrying out point cloud splicing according to the sensor external parameter T to form a primary blade point cloud graph; and finally, optimizing the primary leaf point cloud graph through down-sampling filtering and external point removing filtering to obtain a final leaf point cloud graph. The accurate three-dimensional point cloud picture of the blade can be directly obtained on a machine tool, and automatic measurement is achieved. The preparation time of parts between machining and measuring work can be shortened, a fo