VIRTUAL CONTOUR FEATURE POINT-BASED 6D POSTURE MEASUREMENT METHOD FOR MECHANICAL PART

摘要

A virtual contour feature point-based six-degree-of-freedom (6D) posture measurement method for a mechanical part. Said method comprises: performing photographing by means of a multi-light source time-sharing illumination mode, so as to improve the recognition success rate of geometric features in an image; on the basis that straight lines of a real image of a part successfully match those of a template image of the part, performing intersection calculation on space straight lines corresponding to the matched straight lines, and when the space straight lines have intersection points, calculating the coordinates of intersection points of planar straight lines of the real image and the template image, and storing same as a matched point pair; then performing ellipse feature detection on the real image and the template image, and performing matching on two sets of centers by using the distances between the centers and the matched straight lines, and storing the matched center point pair; and finally, establishing a 2D-3D relationship of the real image by using a 2D-3D coordinate relationship of the template image, and solving the posture of the part by means of a PnP algorithm.