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Method for detecting the edge of a regularized straight line segment of a non-texture metal part image

A metal parts, edge detection technology, applied in image analysis, image data processing, instruments, etc., can solve problems such as large amount of calculation, independent return of inseparable straight line segments, long operation time, etc.

Active Publication Date: 2019-05-24
ZHEJIANG UNIV
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Problems solved by technology

However, the Hough transform line detection method has two problems: first, because the Hough transform line detection method needs to transform the points in the image space into the Hough space for calculation, the calculation amount is relatively large, and the calculation time will be relatively long
Second, when mapping from Hough space back to image space, only the straight line where the straight line segment is located can be returned, and the separated straight line segments cannot be returned independently
However, the detected straight line segment may be discontinuous due to shadow, local blur or other reasons (such as figure 1 shown)

Method used

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  • Method for detecting the edge of a regularized straight line segment of a non-texture metal part image
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  • Method for detecting the edge of a regularized straight line segment of a non-texture metal part image

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Embodiment Construction

[0056] The present invention will be further described below in conjunction with drawings and embodiments.

[0057] The method for detecting the edge of the normalized straight line segment of the non-textured metal part of the present invention comprises the following steps (such as figure 2 shown in the flow chart):

[0058] Step 1: Specific implementation Use the industrial light source fixed block part as a non-textured metal part to calculate the gradient size and direction at each pixel position of the input image. For grayscale images, the magnitude and direction of the gradient can be calculated by the gradient difference operator. For RGB images, the gradient vector norm of pixels in the image is:

[0059]

[0060] in:

[0061]

[0062] Step 2: Calculate the Level-Line angle of all pixels: as image 3 As shown, the Level-Line of each pixel in the image is perpendicular to the gradient direction of the pixel, and the Level-Line angle of the pixel is the rota...

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Abstract

The invention discloses a method for detecting the edge of a regularized straight line section of an image of a texture-free metal part. According to the method, the gradient of each pixel point of the input part image is calculated firstly, then a preliminary straight line segment is detected by using an LSD algorithm, and discontinuous straight line segments are connected by using the distance and angle relationship between the straight line segments in the next step, so that the purpose of detecting complete straight line segments is achieved, and the problem that the detected straight linesegments are broken is avoided. The method is improved on the basis of an LSD algorithm, can output a complete straight line segment on the basis of keeping the high speed of the LSD algorithm, is suitable for an RGB image and a gray level image, and can meet the requirements of practical application.

Description

technical field [0001] The invention relates to the technical fields of computer vision and industrial automation, in particular to a method for detecting the edge of a normalized straight line segment of a non-textured metal part image. Background technique [0002] Edge line detection of non-textured metal parts has always been an important research direction in the field of computer vision. In many application scenarios, it is necessary to detect the straight lines on the edge of parts, such as identifying and grasping metal parts. [0003] At present, the most common straight line detection methods are obtained by improving the Hough transform straight line detection method. However, the Hough transform line detection method has two problems: first, because the Hough transform line detection method needs to transform the points in the image space into the Hough space for calculation, the calculation amount is relatively large, and the calculation time will be relatively...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T7/13G06T7/187
CPCG06T7/00G06T7/13G06T7/187
Inventor 赵昕玥何再兴江智伟张树有谭建荣
Owner ZHEJIANG UNIV
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