Patent ID: 11392787

Abstract:
A method for grasping texture-less metal parts based on BOLD image matching comprises: obtaining a real image and CAD template images by photographing, extracting a foreground part of the input part image, calculating a covariance matrix of a foreground image, establishing the direction of a temporary coordinate system, and setting directions of line segments to point to a first or second quadrant of the temporary coordinate system; constructing a descriptor of each line segment according to an angle relation between the line segment and k nearest line segments, and matching the descriptors of different line segments in the real image and the CAD template images to obtain line segment pairs; and recognizing a processed pose through a PNL algorithm to obtain a pose of a real texture-less metal part, and then inputting the pose of the real texture-less metal part to a mechanical arm to grasp the part. The present invention can correctly match line segments, obtain an accurate pose of the part by calculation, successfully grasp the part, and satisfy actual application requirements.