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Structured light strip center extraction method based on ridge line tracing and Hessian matrix

A technology of light strip center extraction and Hessian matrix, which is applied in the direction of optical devices, image data processing, measuring devices, etc., can solve the problems of high precision and high speed, reduce redundant calculations, and have good robustness , the effect of high processing precision

Inactive Publication Date: 2009-08-05
HARBIN INST OF TECH
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Problems solved by technology

[0007] The purpose of the present invention is to solve the problem that the existing structured light strip center extraction method cannot take into account both high precision and high speed. Online extraction, providing a method for extracting the center of structured light strips based on ridge tracking and Hessian matrix

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  • Structured light strip center extraction method based on ridge line tracing and Hessian matrix
  • Structured light strip center extraction method based on ridge line tracing and Hessian matrix
  • Structured light strip center extraction method based on ridge line tracing and Hessian matrix

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specific Embodiment approach

[0025] Specific implementation method: the following combination Figure 2 to Figure 10 This embodiment is described. In this embodiment, the steps of implementing the method for extracting the center of the structured light strip based on ridge tracking and Hessian matrix include:

[0026] Step 1, image preprocessing, determine image target area and image background area, determine target block and background block;

[0027] Normalize the gray value and variance of the gray image of the structured light strip, and set the gray value threshold T g , the gray value in the structured light strip gray image is greater than or equal to the gray value threshold T g The area where the point is located is the image target area, otherwise it is the image background area; divide the structured light strip grayscale image into m×n sub-blocks, calculate the image variance var[i, j] of each sub-block, and set the variance Threshold T var , the variance var[i, j] is greater than or equa...

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Abstract

The invention provides a method for extracting structured light strip center based on ridge tracing and Hessian matrix which belongs to the machine visual technique field. The method has aim for solving problem that the present method for extracting structured light strip center can not give attention to high precision and high speed. The method includes steps as follows: selecting a reliable tentative tracking point; solving sub-pixel grade precision light strip center point on a normal direction of the tentative tracking point by using Hessian matrix, rounding coordinates of the sub-pixel grade precision light strip center point and obtaining the present center tracking point; solving tangent of the center tracking point by using Hessian matrix, extending the center track point on the tangent direction according with a pixel step length and rouding for obtaining next tentative tracking point; repeating upper steps and solving all sub-pixel precision light strip center points in the light strip image. The method and the device provided by the invention has advantages of little processing image count number in ridge tracing method and high precision in Hessian matrix method, which can realize extracting the structured light strip center with high precision rapidly.

Description

technical field [0001] The invention relates to a method for extracting the center of a structured light strip based on ridge tracking and a Hessian matrix, and belongs to the technical field of machine vision. Background technique [0002] Structured light strips have been widely used in visual inspection and non-contact measurement. It is usually combined with a CCD camera to form a structured light detection system according to the principle of triangulation. Such as figure 1 As shown, the structured light source 1 produces a linear light strip, which is projected onto the surface of the measured object 2. Since the surface height of the measured object 2 is different from that of the detection platform 4, the light strip forms a deformed stripe on the surface of the measured object 2. Utilize CCD camera 3 to collect the image of described deformed fringe, if want to obtain the accurate three-dimensional profile of measured object 2, must extract the light stripe center ...

Claims

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Application Information

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IPC IPC(8): G06T7/00G01B11/25
Inventor 刘宛予杨尉
Owner HARBIN INST OF TECH
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