CN111325741B - Item quantity estimation method, system and equipment based on depth image information processing - Google Patents
Item quantity estimation method, system and equipment based on depth image information processing Download PDFInfo
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- 238000012545 processing Methods 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 description 5
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- 238000013473 artificial intelligence Methods 0.000 description 2
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30242—Counting objects in image
Abstract
The invention provides an article quantity estimation method based on depth image information processing, which comprises the steps of acquiring a depth image of an empty article tray by using a depth camera; placing different numbers of articles on a containing disc, collecting depth images of the articles by using a depth camera, comparing the depth images with the depth images of empty containing discs, and repeating the steps for a plurality of times to obtain the average voxel number of single articles; and placing the articles with unknown quantity on the containing tray, acquiring depth images of the articles by using a depth camera, comparing the depth images with the depth images of the empty containing tray, calculating the total prime number of the articles with unknown quantity, dividing the total prime number by the average prime number of the single articles, and estimating the number N of the articles. Meanwhile, an article quantity estimation system and an article quantity estimation device based on depth image information processing are provided. The device is simple, easy to use, stable in performance, high in robustness to the environment, and high in accuracy for the scenes of serious stacking of articles.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to an article quantity estimation method, system and equipment based on depth image information processing.
Background
There are a large number of situations in daily life where it is necessary to quickly estimate the number of items, such as the number of newly processed items that the item processing industry needs to quickly learn, the number of fruits that have just been picked, etc. The traditional manual counting mode is low in efficiency, and is easy to misplace under the condition of serious stacking. Although the weighing method is an effective method, the operation flow is increased, on one hand, the working efficiency is affected, and on the other hand, for the scenes with strict sanitary requirements, such as catering industry, the risk of article pollution is possibly increased. The image processing-based method has the advantages of small invasiveness and low risk. However, if the count is generated based on image item identification, it is impossible to cope with the case of item stacking. When the convolutional neural network is adopted to construct an image recognition algorithm, a large number of related images are required to be acquired in advance and marked to be used as training data, and the data acquisition cost is high. With the continuous development and application of artificial intelligence technology and image recognition technology, technology based on depth image processing is expected to be used to solve the above problems. The number of the articles is automatically estimated through a depth image processing technology, and the method has very wide application prospects, such as catering industry, agricultural fields, industrial fields and the like.
No description or report of similar technology is found at present, and similar data at home and abroad are not collected.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an article quantity estimation method, system and equipment based on depth image information processing.
The invention is realized by the following technical scheme.
According to an aspect of the present invention, there is provided an item count estimation method based on depth image information processing, including:
acquiring a depth image of the empty storage disc by using a depth camera;
placing a known number of articles on a containing disc, acquiring a depth image of the containing disc by using a depth camera, comparing the depth image with the depth image of an empty containing disc, calculating the total element number of the articles, and recording the article number; repeatedly changing the known quantity of the articles for a plurality of times, repeating the steps, and calculating to obtain the average voxel quantity Vo of the single article;
placing the unknown quantity of the same articles on the containing tray, collecting the depth image of the containing tray by using a depth camera, comparing the depth image with the depth image of the empty containing tray, calculating the total prime number V of the unknown quantity of the articles, and estimating the number N of the articles as follows by using the average prime number Vo of the single articles: n=v/Vo.
Preferably, the object containing disc and the depth camera are fixed through a shooting frame, and the angle of the object containing disc shot by the depth camera is fixed.
Preferably, placing articles with known quantity of Ni on a containing disc, acquiring a depth image of the containing disc by using a depth camera, subtracting each pixel value in the depth image of the containing disc from each corresponding pixel value on the depth image of the empty containing disc point by point, and calculating the total pixel number Vi of the articles; repeating the step n times, so that the known quantity of the articles placed on the article containing tray is different each time, and obtaining the average voxel quantity Vo of the single articles as follows:
according to a second aspect of the present invention, there is provided an item count estimation system based on depth image information processing, comprising:
the image acquisition module is used for respectively acquiring a depth image of an empty containing disc, a depth image of a containing disc filled with a known number of articles and a depth image of a containing disc filled with an unknown number of articles, transmitting the depth image of the empty containing disc and the depth image of the containing disc filled with the known number of articles to the voxel number acquisition module of a single article, and transmitting the depth image of the empty containing disc and the depth image of the containing disc filled with the unknown number of articles to the article number estimation module;
the voxel number acquisition module of the single article compares the depth image of the containing disc filled with the known number of articles with the depth image of the empty containing disc, calculates the total voxel number of the articles, records the article number, and repeatedly calculates the average voxel number Vo of the single article;
the article number estimating module compares the depth image of the article containing tray filled with the unknown number of articles with the depth image of the empty article containing tray, calculates the total prime number V of the unknown number of articles, and estimates the number N of the articles as follows by utilizing the average prime number Vo of the single articles: n=v/Vo.
Preferably, the voxel number acquisition module of the single article acquires one image of the acquired n depth images of the storage trays filled with different known quantities of articles, each pixel value on the image is subtracted from the corresponding pixel value on the depth image of the empty storage tray point by point, the total pixel number Vi of the articles in the depth image of the Cheng Wu tray is calculated, and the corresponding article number Ni is recorded; repeating until the comparison of the n Zhang Chengwu-disc depth image and the empty object disc depth image is completed, and obtaining the average voxel number Vo of the single object as follows:
according to a third aspect of the present invention, there is provided an article count estimation device based on depth image information processing, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor being operable to perform the above-described article count estimation method based on depth image information processing when executing the program.
Preferably, the apparatus further comprises: a storage disc, a depth camera and a shooting frame; the object containing disc and the depth camera are fixed through the shooting frame, and the angle of the object containing disc is fixed when the depth camera shoots.
Preferably, the tray adopts a container with a flat bottom surface for containing the articles to be evaluated.
Preferably, the depth camera is used for acquiring depth images of the tray.
Compared with the prior art, the embodiment of the invention has at least one of the following beneficial effects:
the method, the system and the equipment for estimating the number of the articles based on the depth image information processing are simple in implementation process, easy to use, stable in performance, free of worry about the influence of greasy dirt, high in robustness to the environment and high in accuracy to a large number of stacked article images.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of an apparatus for estimating the number of articles based on depth image information processing according to an embodiment of the present invention;
in fig. 1, 1 is a depth camera; 2 is a USB connecting wire; 3 is a computer; 4 is a containing tray for containing articles; 5 is a shooting frame for fixing the depth camera and the object containing disc;
FIG. 2 is a flowchart of an item count estimation method based on depth image information processing according to an embodiment of the present invention;
FIG. 3 is a block diagram of an item count estimation system based on depth image information processing according to an embodiment of the present invention.
Detailed Description
The following describes embodiments of the present invention in detail: the embodiment is implemented on the premise of the technical scheme of the invention, and detailed implementation modes and specific operation processes are given. It should be noted that variations and modifications can be made by those skilled in the art without departing from the spirit of the invention, which falls within the scope of the invention.
As shown in fig. 2, a flowchart of an image processing-based item quantity estimation method according to an embodiment of the present invention may be implemented according to the following steps:
s1, acquiring a depth image of an empty containing disc by using a depth camera, wherein the empty containing disc is an empty containing disc, and no article is placed on the empty containing disc;
s2, acquiring depth images of object containing discs filled with known quantity of objects by using a depth camera, subtracting pixel values of the depth images of the hollow object containing discs from each other point by point, and calculating the total pixel number of the objects; repeating the steps for n times, recording the number of articles as Ni and the total number of voxels as Vi each time, and obtaining the average number of voxels Vo of a single article:
s3, acquiring depth images of a containing disc filled with articles with unknown quantity by using a depth camera, comparing the depth images with the depth images of the hollow containing disc in S1, calculating the total prime number V of the articles with unknown quantity, dividing the total prime number V by the average prime number Vo of the single articles obtained in S2, and estimating the number N of the articles to be:
N＝V/Vo。
the trays in the above S1, S2, and S3 are all the same type of tray.
In the above S1, S2, S3, the article is preferably an article having a volume variance of less than 10% of the average volume of the article. The average volume of the items may be measured by similar items prior to the number of items being estimated.
FIG. 3 is a block diagram of an item count estimation system based on depth image information processing according to an embodiment of the present invention. Specifically, the item count estimation system based on depth image information processing includes: the system comprises an image acquisition module, a voxel number acquisition module of a single article and an article number estimation module, wherein: the image acquisition module acquires a depth image of an empty containing disc, a depth image of a containing disc filled with a known number of articles and a depth image of a containing disc filled with an unknown number of articles; the voxel number obtaining module of the single article obtains the depth image of the storage tray of n Zhang Zhuangru articles with known quantity, wherein the quantity of each article is different, the pixel value of the depth image of the empty storage tray is subtracted point by point, the total pixel number Vi of the articles in each article is calculated, the corresponding article number Ni is recorded, and the average voxel number Vo of the single article is obtained:
the article number estimation module compares the depth image of the article containing tray filled with the articles with unknown number with the depth image of the empty article containing tray, calculates the total pixel number V of the articles with unknown number, divides the total pixel number V by the average voxel number Vo of the single articles, and estimates the number N of the articles to be:
N＝V/Vo。
in the above embodiment, the image acquisition module may be implemented by using the depth camera 1 disposed above the tray, and the voxel number acquisition module transmits the acquired depth image of the empty tray and the depth image of the tray loaded with the known number of articles to the single article, and the voxel number acquisition module transmits the acquired depth image of the empty tray and the depth image of the tray loaded with the unknown number of articles to the article number estimation module.
The method and the system for estimating the number of the articles based on the depth image information processing provided by the embodiment of the invention have the advantages of simple device, easy use, stable performance, no worry about the influence of greasy dirt, stronger robustness to the environment and higher accuracy for a large number of stacked article images.
Based on the above method, in another embodiment, the present invention further provides an item quantity estimation device based on depth image information processing, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program and is configured to perform the item quantity estimation method based on depth image information processing according to any one of the above embodiments.
The object quantity estimation device based on the depth image information processing further comprises an object containing disc, a depth camera and a shooting frame, wherein the object containing disc and the depth camera are fixed through the shooting frame, and the angle of the object containing disc shot by the depth camera is fixed. Specifically, referring to fig. 1, in a preferred embodiment, an item count estimation apparatus based on depth image information processing includes: the device comprises a containing disc 4 for containing articles, and a depth camera 1 arranged at a fixed position above the containing disc, wherein the depth camera 1 and the containing disc 4 are fixed at a fixed position of a shooting frame 5, the shooting angle of the depth camera 1 is fixed, the depth camera 1 is connected with a computer 3 through a USB connecting wire 2, and the computer 3 is used for subsequent image analysis and quantity estimation. The computer 3 includes a memory and a processor.
Optionally, the tray employs a container with a flat bottom surface for holding the quantity of the articles to be evaluated. The use of a container with a flat bottom surface is more advantageous for subsequent image processing.
Optionally, the depth camera is used to acquire depth image information of the item.
Optionally, the shooting frame is used for fixing the storage disc and the depth camera, so that the relative position of the depth camera is fixed and the shooting angle is fixed when the depth camera is used for taking the photos of the articles.
Optionally, a memory for storing a program; memory, which may include volatile memory (english) such as random-access memory (RAM), such as static random-access memory (SRAM), double data rate synchronous dynamic random-access memory (Double Data Rate Synchronous Dynamic Random Access Memory, DDR SDRAM), and the like; the memory may also include a non-volatile memory (English) such as a flash memory (English). The memory 62 is used to store computer programs (e.g., application programs, functional modules, etc. that implement the methods described above), computer instructions, etc., which may be stored in one or more memories in a partitioned manner. And the above-described computer programs, computer instructions, data, etc. may be invoked by a processor.
The computer programs, computer instructions, etc. described above may be stored in one or more memories in partitions. And the above-described computer programs, computer instructions, data, etc. may be invoked by a processor.
A processor for executing the computer program stored in the memory to implement the steps in the method according to the above embodiment. Reference may be made in particular to the description of the embodiments of the method described above.
The processor and the memory may be separate structures or may be integrated structures that are integrated together. When the processor and the memory are separate structures, the memory and the processor may be connected by a bus coupling.
It should be noted that, the steps in the method provided by the present invention may be implemented by using corresponding modules, devices, modules, etc. in the system, and those skilled in the art may refer to a technical solution of the system to implement the step flow of the method, that is, the embodiment in the system may be understood as a preferred example for implementing the method, which is not described herein.
According to the method, the system and the equipment for estimating the number of the articles based on the depth image information processing, which are provided by the embodiment of the invention, aiming at the articles with the volume variance smaller than 10% of the average volume of the articles, the implementation device is simple, the use is easy, the performance is stable, the robustness to the environment is high, and the accuracy is high for the scenes with the articles seriously stacked.
Those skilled in the art will appreciate that the invention provides a system and its individual devices that can be implemented entirely by logic programming of method steps, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc., in addition to the system and its individual devices being implemented in pure computer readable program code. Therefore, the system and various devices thereof provided by the present invention may be considered as a hardware component, and the devices included therein for implementing various functions may also be considered as structures within the hardware component; means for achieving the various functions may also be considered as being either a software module that implements the method or a structure within a hardware component.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the invention.
Claims (8)
1. A method for estimating the number of items based on depth image information processing, comprising:
acquiring a depth image of the empty storage disc by using a depth camera;
placing a known number of articles on a containing disc, acquiring a depth image of the containing disc by using a depth camera, comparing the depth image with the depth image of an empty containing disc, calculating the total element number of the articles, and recording the article number; repeatedly changing the known number of the articles, repeating the steps, and calculating the average voxel number V of the single article O ；
Placing an unknown number of the same articles on the containing disc, acquiring a depth image of the containing disc by using a depth camera, and comparing the depth image with the depth image of the empty containing discFor each item, calculating the total prime number V of the unknown items, and utilizing the average prime number V of the single item O The number N of the articles is estimated as follows:
N＝V/V O ；
placing articles with known quantity of Ni on a storage disc, acquiring a depth image of the storage disc by using a depth camera, subtracting each pixel value in the depth image of the storage disc from each corresponding pixel value on the depth image of the empty storage disc point by point, and calculating the total pixel number Vi of the articles; repeating the steps n times to ensure that the known quantity of the articles placed on the article containing tray is different each time, and obtaining the average voxel quantity V of the single article O The method comprises the following steps:
2. the method for estimating the number of articles based on depth image information processing according to claim 1, wherein the articles are articles having a volume variance of less than 10% of an average volume of the articles.
3. The method for estimating the number of articles based on the depth image information processing according to claim 1, wherein the tray and the depth camera are fixed by a photographing frame, and an angle of the tray is fixed by the depth camera.
4. An article quantity estimation system based on depth image information processing is characterized in that: comprising the following steps:
the image acquisition module is used for respectively acquiring a depth image of an empty containing disc, a depth image of a containing disc filled with a known number of articles and a depth image of a containing disc filled with an unknown number of articles, transmitting the depth image of the empty containing disc and the depth image of the containing disc filled with the known number of articles to the voxel number acquisition module of a single article, and transmitting the depth image of the empty containing disc and the depth image of the containing disc filled with the unknown number of articles to the article number estimation module;
the voxel number acquisition module of the single article compares the depth image of the containing tray filled with the known number of articles with the depth image of the empty containing tray, calculates the total voxel number of the articles, records the article number, and repeatedly calculates the average voxel number V of the single article O ；
The article number estimation module compares the depth image of the article tray filled with the unknown number of articles with the depth image of the empty article tray, calculates the total prime number V of the unknown number of articles, and utilizes the average prime number V of the single articles O The number N of the articles is estimated as follows:
N＝V/V O ；
the voxel number acquisition module of the single article acquires one image of the acquired n depth images of the object containing discs filled with different known quantities of articles, each pixel value on the image is subtracted with the corresponding pixel value on the depth image of the empty object containing disc point by point, the total pixel number Vi of the articles in the depth image of the Cheng Wu disc is calculated, and the corresponding article number Ni is recorded; repeatedly executing until the n Zhang Chengwu-disc depth image and the empty object disc depth image are compared, and obtaining the average voxel number V of the single object O The method comprises the following steps:
5. a depth image information processing based item count estimation device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor is operable to perform the depth image information processing based item count estimation method of any one of claims 1-3 when executing the program.
6. The depth image information processing-based item count estimation apparatus according to claim 5, further comprising: a storage disc, a depth camera and a shooting frame; the object containing disc and the depth camera are fixed through the shooting frame, and the angle of the object containing disc is fixed when the depth camera shoots.
7. The apparatus for estimating an amount of an object based on depth image information processing according to claim 5, wherein said tray employs a container having a flat bottom surface for holding the amount of the object to be estimated.
8. The apparatus for estimating the number of articles based on the processing of the depth image information according to claim 5, wherein the depth camera is used for acquiring the depth image of the tray.
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| CN109871765A (en) * | 2019-01-16 | 2019-06-11 | 创新奇智(宁波)科技有限公司 | A kind of article stacking detection method, system and electronic equipment based on image |
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