LAUSR

Cabin pose measurement is one of the key procedures in the assembly and docking process of large cabins, which provides important feedback information for the subsequent docking control system. As the basis of cabin pose measurement, the accuracy and robustness of cabin assembly image segmentation are particularly important. However, traditional image segmentation method based on RGB sensor is extremely susceptible to interference from the external environment, which greatly weakens the recognition effect. In this article, an image segmentation method of cabin assembly scene based on improved red-green-blue-depth (RGB-D) Mask R-CNN is proposed, and its network structure is designed to be able to specifically process four-channel images. The method can accurately extract the corresponding area of the cabin under complex and severe environmental disturbances, with high robustness and generalization capability. Meanwhile, the excellence of deep learning segmentation algorithms with depth channel information input is highlighted. In experiments, improved classic segmentation network U-Net, SegNet, pyramid scene parsing network (PSPNet), and Deeplab-v3 based on RGB-D were constructed as control, and these models were tested and evaluated on the enhanced test sets to verify their segmentation accuracy and robustness performance. Comparing experiments fully demonstrate the superiority of the segmentation network model of RGB-D four-channel input over RGB input. At the same time, vision system using the proposed Mask R-CNN algorithm based on RGB-D has the best cabin segmentation accuracy, robustness, and generalization capability, which has practical significance for industrial applications.