| 一种用于焊接工件三维重建的视差图分割算法 |
| |
| 引用本文： | 王军,梁志敏,高洪明. 一种用于焊接工件三维重建的视差图分割算法[J]. 焊接学报, 2009, 30(11): 101-104 |
| |
| 作者姓名： | 王军 梁志敏 高洪明 |
| |
| 作者单位： | 河北科技大学,材料科学与工程学院,石家庄,050018;河北科技大学,材料科学与工程学院,石家庄,050018;哈尔滨工业大学,现代焊接生产技术国家重点实验室,哈尔滨,150001;哈尔滨工业大学,现代焊接生产技术国家重点实验室,哈尔滨,150001 |
| |
| 摘 要： | 在遥控焊接中采用立体视觉传感建立焊接工件的三维模型时,视差图的分割是重要步骤之一.文中对经典USF平面距离图分割算法进行改进,通过增加区域合并步骤,使之能够分割含有圆柱面的立体视差图.区域合并步骤分为边界探测和合并曲面两步.在边界探测步骤记录平面分割所得区域的边界像素;合并曲面步骤通过比较相邻区域的边界像素间的法向量夹角和距离,判断相邻区域是否属于同一曲面,并将属于同一曲面的区域赋予相同的标签.文中给出了马鞍形工件的立体视差图分割结果,证明了算法的可行性.Abstract：In remote welding, the segmentation of disparity map is an important step to create 3D model of weld workpiece by stereo vision sensor. In this paper, the USF plane range image segmentation algorithm was introduced into disparity map segmentation, and by a region combination step, the revised algorithm can deal with the disparity map containing cylinder surface. The combination step could be divided into boundary detecting and curve region relabeling. During boundary detection, the pixel at the boundary of the segmented region after plane segmentation was recorded. In curve region relabehng, the adjacent regions in the same curved surface were assigned with the same label by comparing the boundary pixels' normal direction and distance between them. A segmented result of disparity map of saddle workpiece is shown to prove the feasibility of the algorithm.
|
| 关 键 词： | 视差图分割 立体视觉 三维重建 遥控焊接 |
| 收稿时间： | 2009-06-02 |
A disparity map segmentation algorithm for 3D reconstruction of weld workpiece |
| |
| WANG Jun,LIANG Zhimin and GAO Hongming. A disparity map segmentation algorithm for 3D reconstruction of weld workpiece[J]. Transactions of The China Welding Institution, 2009, 30(11): 101-104 |
| |
| Authors: | WANG Jun LIANG Zhimin GAO Hongming |
| |
| Affiliation: | School of Materials Science and Technology, Hebei University of Science and Technology, Shijiazhuang 050018, China,School of Materials Science and Technology, Hebei University of Science and Technology, Shijiazhuang 050018, China;State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China and State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China |
| |
| Abstract: | In remote welding, the segmentation of disparity map is an important step to create 3D model of weld workpiece by stereo vision sensor. In this paper, the USF plane range image segmentation algorithm was introduced into disparity map segmentation, and by a region combination step, the revised algorithm can deal with the disparity map containing cylinder surface. The combination step could be divided into boundary detecting and curve region relabeling. During boundary detection, the pixel at the boundary of the segmented region after plane segmentation was recorded. In curve region relabehng, the adjacent regions in the same curved surface were assigned with the same label by comparing the boundary pixels' normal direction and distance between them. A segmented result of disparity map of saddle workpiece is shown to prove the feasibility of the algorithm. |
| |
| Keywords: | disparity map segmentation stereo vision 3D reconstruction remote welding. |
| 本文献已被 万方数据 等数据库收录！ |
| 点击此处可从《焊接学报》浏览原始摘要信息 |
|
点击此处可从《焊接学报》下载免费的PDF全文 |
|
