22B-E012N104
22B-E012N104
● 过程一是定位，即视觉系统定位到待引导物体；
● 过程二是引导，即视觉系统引导机械臂按需要的轨迹实现的工艺流程。
考虑到Astra Pro深度相机的点云精度远没有工业级点云相机高，为了尽量减小点云精度对终引导精度的影响，故本项目使用相对测量的思想，将过程一的定位问题转化为点云匹配问题，将过程二的引导问题转化为在模板位置的轨迹基础上做机械臂基坐标系的偏移。
4.点云匹配
常见的点云配准方法有很多，可以分为粗配准和精配准两类，而精配准中的ICP配准结果准确，但依赖比较好的初值。
本项目的预设前提是待引导物体以任意位姿摆放，直接使用ICP很可能会陷入局部优解，考虑到运行速度与实现难度，故本项目使用FPFH+RANSAC+ICP的点云匹配思路，即使用FPFH+RANSAC作为粗配准，获取两个点云之间的粗略变换关系，再以此作为初值，使用ICP作为精配准，获取两个点云之间的变换关系。
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