关键词: 码垛系统, 特征点检测, FAST-SURF算法, 目标匹配, RANSAC算法

Abstract: It is necessary to identify and locate the target body quickly and accurately before grabbing the target object in the intelligent cigarette packing palletizing system. The traditional SURF method has a long time to detect the feature points. Therefore, a new method of binocular target matching based on improved FAST-SURF algorithm is proposed. In this paper, the number of detection pixels of the FAST algorithm is reduced from 16 to 12, and the matching feature points are searched by FLANN algorithm, and the matching time is shortened. Finally, the mismatch pair is eliminated by RANSAC algorithm, and the regular distribution of the internal and external parameters and the matching feature points obtained by the image matching results will be approximated according to the results of the image matching. The three dimensional coordinates of all the feature points are averaged and the approximate plane centroid coordinates are obtained. In the experiment, the threshold of the algorithm is discussed and the appropriate threshold of the algorithm is obtained. The experimental results prove that this method improves the speed and accuracy of cigarette package identification and has better robustness.

Key words: palletizing system, feature points, detection FAST-SURF algorithm, target matching, RANSAC algorithm