【摘要】 废弃玻璃分拣时存在分拣效果差、耗时长的问题，为此提出一种基于激光扫描的废弃玻璃目标分拣优化方法。利用激光扫描获取玻璃点云数据，将原始点云数据加工成切片数据并压缩，通过最小二乘法控制点云数据误差，以此获取所需待分拣区域目标数据。利用图像阈值分割法，通过各目标间的差距度量完成区域图像前景和背景分割，使用四叉树方法分解包含目标的前景图像控制点重建背景，通过高斯滤波器平滑处理背景图像提取废弃玻璃特征，最终采用模板匹配方法寻找废弃玻璃目标，从而实现分拣工作。实验结果表明，所提方法分拣的废弃玻璃与实际结果一致，并且分拣时间低于1.5 s,验证了该方法的分拣效果好，应用价值更高。更多还原

【Abstract】 Waste glass sorting has the problem of poor sorting effect and long time. Therefore, an optimization method for target sorting of waste glass based on laser scanning is proposed. The glass point cloud data is obtained by laser scanning, the original point cloud data is processed into slice data and compressed, and the point cloud data error is controlled by the least square method, so as to obtain the target data of the area to be sorted. The image threshold segmentation method is used to complete the foreground and background segmentation of the regional image by measuring the gap between the targets. The quadtree method is used to decompose the control points of the foreground image containing the targets and reconstruct the background. The waste glass features are extracted by smoothing the background image with Gaussian filter. Finally, the template matching method is used to find the abandoned glass targets, so as to achieve the sorting work. The experimental results show that the waste glass sorted by the proposed method is consistent with the actual results, and the sorting time is less than 1.5 s, which verifies that the method has good sorting effect and higher application value.更多还原