A method for edge detection of normalized straight line segments in images of non-textured metal parts

Abstract

A regularization method for detecting line segment edges in an image of a non-textured metal component. The method comprises: calculating gradient values of respective pixels in an input image of a component; employing an LSD algorithm to detect preliminary line segments; and using distances and angle relationships between the line segments to connect discontinuous line segments. Thus, the invention detects complete line segments and avoids the problem of broken line segments when performing detection. The method is an improvement on LSD algorithms, and can be used to output complete line segments while also maintaining the fast speed of the LSD algorithms. Moreover, the method is applicable to both RGB images and grayscale images and so can meet the requirements of actual applications.

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...

AI Technical Summary

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)

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