公开(公告)号：EP4141380A1

公开(公告)日：2023-03-01

申请号：EP21894082.3

申请日：2021-12-21

申请人： Qingdao University ,  Qingdao Point Cloud Intelligent Technology Co., Ltd. ,  Weihai Innovation Institute, Qingdao University

发明人： ZHANG, Weizhong ,  LIU, Zenghui ,  ZHANG, Chi ,  ZHANG, Hongfeng ,  YUAN, Cuimei

IPC分类号： G01B11/00

摘要： The present application provides a volumetric measuring method and apparatus based on a TOF depth camera, which is achieved by: acquiring depth images; denoising the depth images; selecting a first feature area of the first depth image and a second feature area of the second depth image that have been denoised respectively, traversing each pixel point in the first feature area at multiple traversal speeds, and matching a first depth value of a current pixel point with a second depth value of a target pixel point corresponding to the current pixel point in the second feature area to acquire multiple total similarity values; determining a traversal speed corresponding to a maximum total similarity value as an instantaneous speed at a current moment; calculating a package volume according to the instantaneous speed. The present application effectively solves the problem that an accurate package volume cannot be obtained when a speed of the conveyor belt is not fixed, and high in feasibility.