FIELD: physics.
SUBSTANCE: method for determining the location of warehouse pallets based on images of the three-dimensional sensors, characterized by the fact that a cloud of the pallet points is received from at least one three-dimensional sensor, the filtration of the points obtained in the previous step is carried out, a projection of the filtered points is performed to the vertical plane, receiving a pallet projection matrix, the localization of the pallet front on the pallet projection matrix is carried out, the pallet front is approximated by the filtered points of the cloud of points localized in the region of the pallet front, the coordinates of the warehouse pallet are determined on the basis of the results of the pallet front approximation obtained in the previous step.
EFFECT: increasing the accuracy and speed of the automatic pallet detection.
4 cl, 7 dwg
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