Multi-target Localization and Pose Estimation Based on Mixed Programming of Halcon and C#
Xueliang Sheng, Luyao Xing, Jun Zhang, Xiaodong Ye · 2020
The paper proposes a method of multi-objective recognition and pose estimation based on mixed programming of HALCON and C#. The target we choose is the screws that are often used in industry. Using machine vision to identify, locate and position it in order to achieve a series of applications such as grabbing and installation, thereby reducing labor and achieving high effectiveness. Firstly, the target image is acquired using the calibrated camera. Then, the image is subjected to operations such as gradation, image filtering, threshold segmentation, and morphological processing to extract target information in HALCON. Processing information what are extracted to get the position and pose of multiple screws. Finally, designing the interface by mixed programming of HALCON and C# to improve the program's practicality and convenience.