Abstract
After analyzing the ranging principle of structured light depth camera and the conversion relationship between pixel coordinate system and camera coordinate system. Combine YOLOv5 and Hough circle detection to obtain the pixel coordinates of the center of the nut. A nut identification and positioning system is designed, which converts the pixel coordinates into the real-scale three-dimensional coordinates of the nut relative to the camera through the Camera Intrinsic Matrix Camera Intrinsic Matrix Camera Intrinsic Matrix. In many experiments, the maximum error in X and Y directions is less than 2 mm, and the error in Z direction is less than 1 mm, which verifies that the system has certain accuracy and stability.
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Acknowledgement
This work was supported by the State Grid Anhui Electric Power Co., Ltd. (No. 5212002000AS).
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Zhang, J., Zhang, T., Liu, J., Gong, Z., Sun, L. (2022). Nut Recognition and Positioning Based on YOLOv5 and RealSense. In: Huang, DS., Jo, KH., Jing, J., Premaratne, P., Bevilacqua, V., Hussain, A. (eds) Intelligent Computing Methodologies. ICIC 2022. Lecture Notes in Computer Science(), vol 13395. Springer, Cham. https://doi.org/10.1007/978-3-031-13832-4_18
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