Unmanned forklift application-oriented tray detection and positioning method and system
The invention discloses a tray detecting and positioning method and system for unmanned forklift application. The method comprises the steps that a depth image and an RGB image collected by an RDG-D camera module are obtained; establishing a tray image data set to train a tray detector so as to pred...
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| creator | REN QINYUAN PANG JIANGNAN LIN CHU'ANG |
| description | The invention discloses a tray detecting and positioning method and system for unmanned forklift application. The method comprises the steps that a depth image and an RGB image collected by an RDG-D camera module are obtained; establishing a tray image data set to train a tray detector so as to predict a tray area and a support column area in the RGB image, and rejecting incomplete trays in the tray area; the complete tray serves as a target tray, a supporting column area of the complete tray serves as a region of interest, the RGB image and the depth image are aligned, depth information of the supporting column area is extracted, and the depth information of the region of interest is converted into three-dimensional point cloud data under a camera coordinate system based on pre-calibrated camera parameters; segmenting the supporting column surfaces of the target tray, and calculating the center-of-mass coordinates of each supporting column surface; and a supporting column triple of the forking face of the ta |
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| subjects | CALCULATING COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS COMPUTING COUNTING IMAGE DATA PROCESSING OR GENERATION, IN GENERAL PHYSICS |
| title | Unmanned forklift application-oriented tray detection and positioning method and system |
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