关键词: 双目视觉, 管路, 边缘像素点, 位姿测量, 鲁棒性

Abstract: To address the problems such as texture-less and feature-less of pipe during the pose estimation,a novel method based on binocular vision was proposed.The principle of binocular vision was utilized to estimate the initial pose of pipe from 2D images.Then the 3D-2D mapping relationship was established by using the pose optimization algorithm based on the edge pixels.The model was fitted to the object in the images by optimizing the distance between the edge pixels and the projected model edges.To improve the robustness and efficiency of the algorithm,a limited number of pixels with high gray value gradients were selected only in a buffer around the projected model edges,and the pixels whose gradients were not perpendicular to the projected model edges were excluded.Experimental results showed that the method had high measurement accuracy and the measurement time was only 2-3s.The easy-operating and high efficiency of this method was proved as well,which enhanced the measurement accuracy effectively.

Key words: binocular vision, pipeline, edge pixels, pose measurement, robustness