US 12,131,512 B2
Product positioning method
Yixian Du, Huizhou (CN); Gang Wang, Huizhou (CN); De Chen, Huizhou (CN); and Jinjin Shi, Huizhou (CN)
Filed by GUANGDONG LYRIC ROBOT AUTOMATION CO., LTD., Huizhou (CN)
Filed on Nov. 18, 2021, as Appl. No. 17/529,417.
Application 17/529,417 is a continuation of application No. PCT/CN2019/122240, filed on Nov. 30, 2019.
Claims priority of application No. 201910471702.0 (CN), filed on May 31, 2019.
Prior Publication US 2022/0076428 A1, Mar. 10, 2022
Int. Cl. G06V 10/24 (2022.01); G06T 7/12 (2017.01); G06T 7/13 (2017.01); G06T 7/168 (2017.01); G06T 7/194 (2017.01); G06V 10/77 (2022.01); G06V 20/69 (2022.01)
CPC G06V 10/245 (2022.01) [G06T 7/12 (2017.01); G06T 7/13 (2017.01); G06T 7/168 (2017.01); G06T 7/194 (2017.01); G06V 10/7715 (2022.01); G06V 20/69 (2022.01); G06V 20/693 (2022.01)] 9 Claims
OG exemplary drawing
 
1. A product positioning method, comprising:
collecting a product image of a product;
dividing the product image into a plurality of rectangular regions;
performing integral image calculation on each rectangular region to obtain a plurality of integral images;
forming a plurality of integral image regions each having four said integral images with two adjacent sides of each of the four said integral images connecting with one side of other two images of the four said integral images;
numbering the four said integral images clockwise or counterclockwise of each of the integral image regions;
performing differential calculation on each of the integral image regions to obtain a differential value according to the four said integral images;
judging whether the differential value of an integral image region of the integral image regions where a vertex (101) of the product is located is a maximum differential value among obtained differential values, wherein if yes, coordinates of the vertex (101) are obtained; and performing position correction on the product image according to obtained coordinates of the vertex (101) and coordinates of a target vertex.