Knowledge Commons of Institute of Automation,CAS
Perception for Coupler Rod of Freight Train Based on Image and Point Clouds | |
Renjie Guo1,2![]() ![]() ![]() | |
2022-11 | |
会议名称 | 2022 China Automation Congress (CAC) |
会议日期 | 25-27 November 2022 |
会议地点 | Xiamen, China |
出版者 | IEEE |
摘要 | In the construction of automated marshaling yards, the automatic uncoupling operation of freight trains has always been the research and development direction. The coupler rod is the operation object of the uncoupling operation. The identification of coupler rod type and estimating position and posture are the prerequisites to realizing automatic uncoupling operation. In this paper, we propose a perception method of coupler rod by RGB image combined with the point cloud. We use an RGBD camera to synchronously collect frame-aligned RGB and depth images and generate point cloud data with colors according to the mapping relationship. Then, we use the YOLOv5 neural network to detect the collected RGB images and recognize the type of coupler rod in the image. Clear clutter in the point cloud and the bounding box is mapped to a spatial coordinate system for straight-through filtering of the point cloud. We use RANSAC for coarse registration and ICP for fine registration. The result of registration is carried out with the lower sampling point cloud model to achieve the registration of the coupler rod. Experiments show that this method can effectively segment the point cloud of the region of interest with high robustness. |
收录类别 | EI |
语种 | 英语 |
是否为代表性论文 | 否 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 实体人工智能系统感认知 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/52183 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Guodong Yang |
作者单位 | 1.Institute of Automation, CAS 2.University of Chinese Academy of Sciences 3.China Academy of Railway Sciences Corporation Limited |
推荐引用方式 GB/T 7714 | Renjie Guo,Jun Feng,Huachang Yang,et al. Perception for Coupler Rod of Freight Train Based on Image and Point Clouds[C]:IEEE,2022. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Perception_for_Coupl(463KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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