基于自适应颜色快速点特征直方图的托盘识别方法

詹燕, 陈志慧, 朱宝昌, 朱婷婷, 邵益平, 鲁建厦

A Pallet Recognition Method Based on Adaptive Color Fast Point Feature Histogram

ZHAN Yan, CHEN Zhihui, ZHU Baochang, ZHU Tingting, SHAO Yiping, LU Jiansha

表1 点云局部邻域的维度特性判断表

Tab.1 Dimensional characteristics judgment of local neighborhood of point cloud

特征值关系式 点云局部邻域维度特性 λ1?λ2, λ2≈λ3 一维线状特征 λ1≈λ2, λ2?λ3 二维面状特征 λ1≈λ2, λ2≈λ3 三维散乱点特征