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Intelligent Localization Sampling System Based on Deep Learning and Image Processing Technology
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DOI：10.3390/s22052021.png)
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摘要
En 中文
In this paper, deep learning and image processing technologies are combined, and an automatic sampling robot is proposed that can completely replace the manual method in the three-dimensional space when used for the autonomous location of sampling points. It can also achieve good localization accuracy, which solves the problems of the high labor intensity, low efficiency, and poor scientific accuracy of the manual sampling of mineral powder. To improve localization accuracy and eliminate non-linear image distortion due to wide-angle lenses, distortion correction was applied to the captured images. We solved the problem of low detection accuracy in some scenes of Single Shot MultiBox Detector (SSD) through data augmentation. A visual localization model has been established, and the image coordinates of the sampling point have been determined through color screening, image segmentation, and connected body feature screening, while coordinate conversion has been performed to complete the spatial localization of the sampling point, guiding the robot in performing accurate sampling. Field experiments were conducted to validate the intelligent sampling robot, which showed that the maximum visual positioning error of the robot is 36 mm in the x-direction and 24 mm in the y-direction, both of which meet the error range of less than or equal to 50 mm, and could meet the technical standards and requirements of industrial sampling localization accuracy.
Keyword:
visual localization
deep learning
image processing
SSD
intelligent sampling robot
area sensing
automatic sampling of mineral powder
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期刊
IF:
3.5
论文数:
7.3W
被引数:
21.2W
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