基于RGB与深度信息融合的管片抓取位置测量方法
王林涛,毛齐

Position measurement method for tunnel segment grabbing based on RGB and depth information fusion
Lin-tao WANG,Qi MAO
表 1 管片螺栓的位置测量结果
Tab.1 Result of position measurement of segment bolt
序号 坐标实际值/mm 坐标测量值/mm 各轴误差/mm
1 (−150,260,535) (−151.315, 259.504, 533.467) (1.315, 0.496, 1.533)
2 (300,180,710) (299.407, 178.901, 707.661) (0.593, 1.099, 2.339)
3 (−350,340,605) (−348.159, 342.073, 606.517) (−1.841, −2.073, −1.517)
4 (550,420,570) (552.542, 419.404, 570.113) (−2.542, 0.596, −0.113)
5 (−400,220,745) (−399.669, 221.963, 747.673) (−0.331, −1.963, −2.673)
6 (200,140,780) (199.867, 139.417, 782.735) (0.133, 0.583, −2.735)
7 (500,380,675) (497.884, 381.682, 672.139) (2.116, −1.682, 2.861)
8 (−250,100,500) (−247.947, 98.754, 502.227) (−2.053, 1.246, −2.227)
9 (450,300,640) (448.682, 300.676, 642.410) (1.318, −0.676, −2.410)