基于图像层级的机器素描研究

针对运用机械臂绘制的机器素描图像存在缺失真实感、艺术感，硬件设备复杂，难以普及的问题，提出基于图像层级的机器素描方法.该方法在运用灰度变换、滤波、二值化等图像预处理方法处理原始人物图像的基础上，分别提取出图像轮廓和图像内部填充区域两部分二值目标图像，通过简易路径规划遍历目标图像，根据遍历轨迹控制XY型简易机械臂绘制图像轮廓及按层级绘制模式填充图像内部区域，实现人物素描图像的绘制.实验结果表明，该系统可根据图像轮廓实现任意曲线的绘制，通过层级绘制模式包含环境因素达到了衬托素描图像使其更具层次感的目的.

Research on Machine Sketch Method Based on Image Hierarchy

Aiming at the problems that the machine sketch image drawn by the manipulator lacks realism, artistic sense, and the hardware equipment is complicated, and hard to popularize, this paper proposes a machine sketch method based on image hierarchy. With this method, it extracts image contours and image inner filling areas as binary target images from the processed images based on the application of some pre-processing methods such as Gray-scale Transformation, Filtering and Binary in dealing with the original character image. Through traversing the target images with simple path planning, then using XY-type simple manipulator to draw the image contours while painting the images with hierarchical drawing modes, it ultimately achieves the drawing of the character sketch image. Experimental results show that the method can draw arbitrary curve according to the image contours, through the hierarchical drawing model, which take the environmental factors into consideration, achieving the purpose of flattering the sketch image and making it more hierarchal.