3D vision guided stove picking based on multi-channel image fusion in complex environment

Chengwu Yang; Lingbo Meng; Yabin Li; Xiaotian Zhang; Kunbo Zhang

doi:10.1117/12.2605350

24 November 2021 3D vision guided stove picking based on multi-channel image fusion in complex environment

Chengwu Yang, Lingbo Meng, Yabin Li, Xiaotian Zhang, Kunbo Zhang

Proceedings Volume 12065, AOPC 2021: Optical Sensing and Imaging Technology; 120651A (2021) https://doi.org/10.1117/12.2605350
Event: Applied Optics and Photonics China 2021, 2021, Beijing, China

Abstract

In recent years, 3D vision robot picking has been widely used in the fields of manufacturing, logistics, and warehouse due to its flexibility in handling various models. In this paper, we propose a robust and precise 3D vision guided robot picking method using multi-channel image information fusion. The major challenges are the failure or inaccurate of object localization and pose estimation caused by environment. Various considerations, we utilize a 3D camera based on binocular structed light to obtain the high accuracy RGB-D image with an additional customized illumination unit. In addition, we introduce the fusion method using multi-exposure control and multi-channel model from multi-color images to establish the reliable model matching for all conditions. Our system calculates the location and pose of the stove according to the rectangular template and the normal vector of the bottom surface to realize visual guidance. By projecting the point cloud onto the stove plane, only the height information is retained to generate a pseudo-image. Our 3D vision system reaches ≥99.8% successful pickup rate with the ±2mm accuracy along X, Y, and Z directions and±0.2°rotational accuracy along RX, RY, and RZ for both bare and painted surfaces under various illumination conditions during production. Our stove-picking systems installed in the welding and assembly stations improve the flexibility and the efficiency of the stove production line (100,000 unit/year).

Citation Download Citation

Chengwu Yang, Lingbo Meng, Yabin Li, Xiaotian Zhang, and Kunbo Zhang "3D vision guided stove picking based on multi-channel image fusion in complex environment", Proc. SPIE 12065, AOPC 2021: Optical Sensing and Imaging Technology, 120651A (24 November 2021); https://doi.org/10.1117/12.2605350

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KEYWORDS

Image fusion

3D vision

Visualization

Clouds

Cameras

Target designation

3D image processing

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