A two-stage spatial pose detection method for bearing rings based on YOLOv5 and binocular vision
Pages 44 - 51
Abstract
The bearing ring has the characteristics of weak texture and high reflection, which easily cause errors in stereo vision matching. To address these issues, this paper proposes a two-stage spatial pose detection method for bearing rings based on YOLOv5 and binocular vision. In Stage 1 called Pre-positioning: the YOLOv5 is used to detect the unobstructed bearing ring; then binocular vision is employed to locate the unobstructed bearing ring; and a line laser projection is performed on the unobstructed bearing ring for fine positioning. In Stage 2 called Fine-positioning: the YOLOv5 is used again to locate the line laser stripes projected on the upper surface of the bearing ring, and then the detected line laser stripes are used to calculate the robot's best grasping pose. The practical application showed that the introduction of line laser solved the problem of weak texture matching, and the application of yolov5 solved the problems of high reflection on the bearing ring surfaces and strong noises after laser reflection. Experiments showed that YOLOv5 detected the unobstructed bearing rings and laser line stripes with 98.5% and 99.3% mAP, respectively, and this method had a 96.3% grasping success rate.
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Published In
February 2022
202 pages
ISBN:9781450387453
DOI:10.1145/3523181
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Published: 18 April 2022
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- Zhanjiang Science and Technology Project
- the National Natural Science Foundation of China under grant
- Guangdong Basic and Applied Basic Research Foundation
- the National Natural Science Foundation of China and the Royal Society of Edinburgh
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ASSE' 22
ASSE' 22: 2022 3rd Asia Service Sciences and Software Engineering Conference
February 24 - 26, 2022
Macau, Macao
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