Computer Engineering and Applications ›› 2021, Vol. 57 ›› Issue (6): 200-206.DOI: 10.3778/j.issn.1002-8331.1912-0421

Previous Articles     Next Articles

Dynamic Matching of Target Corners in Robot Grasping Guided by Optical Flow

LYU Dongyang, ZHANG Lei, ZHANG Dan, YAO Xingtian, SU Boyong   

  1. 1.School of Mechanical Engineering, Nantong University, Nantong, Jiangsu 226019, China
    2.School of Information Science and Intelligent Systems, Tokushima University, Tokushima 770-0855, Japan
    3.Department of Mechanical Engineering, Lassonde School, York University, Toronto M3J 1P3, Canada
  • Online:2021-03-15 Published:2021-03-12



  1. 1.南通大学 机械工程学院,江苏 南通 226019
    2.德岛大学 信息工程学院,日本 德岛 770-0855
    3.约克大学 拉松德学院 机械工程系,加拿大 多伦多 M3J 1P3


For the problem of feature points dynamic matching in online estimation of object pose, a dynamic matching method of target corners guided by optical flow is proposed, in which the wood block is used as the experimental object. Yolov2-tiny model is used to detect the object for location and classification. Shi-Tomasi algorithm is used to extract corners among the region of proposal. The LK optical flow algorithm is used for corner matching by tracking corners between two adjacent frames. For the problem of feature points migration during optical flow tracking, the corners are re-extracted in the 11×11 neighborhood centered on the tracking points. Experiments show that the algorithm can dynamically match the target corners in the video sequence in real time, and corner matching results are more accurate and real-time than SIFT and Harris-SIFT algorithm.

Key words: Yolov2-tiny, Shi-Tomasi corner, Lucas-Kanade(LK) optical flow, corner match



关键词: Yolov2-tiny, Shi-Tomasi角点, LK光流, 角点匹配