Basic Tuning Level Parameter Description

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This section introduces the configurable parameters available under the basic tuning level for the "3D Matching" Step, as well as the description of the functions and tuning recommendations of each parameter.

Input and Output Settings

Parameter Description

Output Type

Description: This parameter is used to set the information type output by the Step. You can choose to output information about the pick point or the object center point.

Value list: Pick point, Object center point

  • Pick point: Output the pick point and pick point information of the target object.

  • Object center point: Output the object center point.

Default value: Pick point

Matching Mode

Matching Mode can only be set when the point cloud model of the selected target object contains both surface and edge point clouds. If the point cloud model contains only one type of point cloud, the corresponding matching mode will be automatically applied in this Step, and manual switching is not allowed. For example, when the point cloud model only contains edge point clouds, the edge matching mode will be used by default, and the parameters related to Matching Mode will be hidden.
Parameter Description

Auto-Set Matching Mode

Description: Once this option is enabled, the Coarse Matching Mode and Fine Matching Mode will be automatically set.
Default value: True

Coarse/Fine Matching Mode

Description: The two parameters are used to set the matching mode. You only need to set them when Auto-set matching mode is not enabled.

Value list: Surface matching, Edge matching

  • Surface matching: Use the object’s surface point cloud model for point cloud model matching.

  • Edge matching: Use the object’s edge point cloud model for point cloud model matching.

Default value: Surface matching

Tuning recommendation: To improve matching accuracy, set the Coarse Matching Mode to Edge matching and the Fine Matching Mode to Surface matching.

Additionally, this parameter can be adjusted based on the target object features and the quality of the acquired point cloud.

  • When the surface of the object has obvious recognizable features (such as crankshafts, rotors, etc.), it is recommended to use surface matching, and you should create a point cloud model that represents the surface features of the object.

  • When the object is relatively flat and shows clear and regular edge features under the camera (such as panels, track shoes, robot links, and brake discs), it is recommended to use edge matching, and you should create a point cloud model that represents the edge features of the object. Meanwhile, if the object point cloud quality is average, it is recommended to use surface matching.

Performance Mode

Parameter Description

Performance Mode

Description: This parameter is used to set the trade-off between accuracy and speed of matching. The higher the accuracy, the longer the time consumed.
Value list: High speed, Standard, High accuracy
Default value: Standard

Confidence Settings

This parameter group is used to evaluate and filter matching results during 3D Matching to ensure matching accuracy and stability. For example, setting this parameter group properly can ensure that the target objects on the top layer that are normally placed can be accurately recognized.

First, this Step evaluates the matching results according to the set Result Validation Degree and calculates the confidence of the matching results. Then the confidence is compared with Confidence threshold to filter out qualified matches.

Confidence of the matching result = the coincidence ratio between the point cloud model and the scene point cloud to be matched.
Parameter Description

Result Verification Degree

Description: This parameter is used to select the degree of strictness applied when evaluating the matching results.
Value list: Low, Standard, High, Ultra-high
Default value: Standard
Tuning recommendation: In general, Standard is recommended. When it is difficult to distinguish the point cloud model from the scene point cloud, a higher result verification degree can be selected.

Confidence Threshold

Description: If the confidence of the matching result is above the threshold, the matching result is valid. The higher the confidence value is, the more accurate the matching result is.
Default value: 0.3000
Tuning recommendation: It is recommended to set this parameter to the default value and check the running result first. If false recognition occurs, it is recommended to increase this parameter; if a false negative occurs, it is recommended to decrease this parameter.

Output

Parameter Description

Max Outputs

Description: This parameter specifies the maximum number of output target objects for successful matches. The larger the value, the longer the Step execution time.

Default value: 10

Tuning recommendation: It is recommended to set this parameter appropriately and avoid setting it too high. The changes to this parameter will only take effect after re-running the Step, and the number of outputs will be limited based on the new matching result.

The actual number of output results from 3D matching may not necessarily match the set Max outputs. If the Max Outputs is set to 5, but there are 3 recognition results in total, the final number of output recognition results is 3.

Visualization

Parameter Description

Visualization Content

Description: After “Debug Output” is enabled, the selected option will be generated and displayed in the Debug Output window.
Value list: Output result, Confidence
Default value: Output result
Instruction: Please enable Debug Output to display poses in the Debug Output window.

Point Cloud Display Settings

Description: This parameter is used to select the type of point cloud displayed in the visualization interface. When “Auto” is selected, the display type will be automatically set.
Value list: Auto, Surface, Edge
Default value: Auto
Instruction: This parameter determines whether to use edge point cloud or surface point cloud for color point cloud in visualization information. You can select different point cloud types to observe the degree of fit between the object and the scene, thus helping adjust parameters.

Display Poses

Description: Once enabled, the pose will be displayed in the Debug Output window.
Default setting: Enabled

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