基于改进Mask R-CNN与双目视觉的智能配筋检测

魏翠婷,赵唯坚,孙博超,刘芸怡

Intelligent rebar inspection based on improved Mask R-CNN and stereo vision

Cuiting WEI,Weijian ZHAO,Bochao SUN,Yunyi LIU

表 2 内、外参数的标定结果

Tab.2 Calibration result of intrinsic and extrinsic parameters

参数 数值 内参矩阵 $\left[ {\begin{array}{*{20}{c}} {910.575}&{\text{0}}&{637.795} \\ {\text{0}}&{908.432}&{380.199} \\ 0&{\text{0}}&{\text{1}} \end{array}} \right]$ 旋转矩阵 $\left[ {\begin{array}{*{20}{c}} {{\text{0}}{\text{.999\;981}}}&{{\text{0}}{\text{.005\;517\;8}}}&{{\text{0}}{\text{.002\;588\;0}}} \\ {{{ - 0}}{\text{.005\;515\;7}}}&{{\text{0}}{\text{.999\;984}}}&{{{ - 0}}{\text{.000\;819\;70}}} \\ {{{ - 0}}{\text{.002\;592\;44}}}&{{\text{0}}{\text{.000\;805\;408}}}&{{\text{0}}{\text{.999\;996}}} \end{array}} \right]$ 平移矩阵 $\left[ {\begin{array}{*{20}{c}} {{\text{ 0}}{\text{.014\;838\;3}}}&{{\text{0}}{\text{.000\;191\;953}}}&{{\text{0}}{\text{.000\;010\;653\;8}}} \end{array}} \right]$