基于形态学多结构元多尺度的自适应边缘检测

数学形态学广泛应用于图像处理和模式识别领域;针对形态学单结构元在边缘检测中边缘信息丢失的问题,提出了用不同方向的结构元素对图像进行多尺度检测的自适应边缘检测方法;首先利用形态学高低帽运算对原始图像进行平滑处理,采用差分最大值确定结构元素的方向,利用形态学运算调整结构元素尺度,改进了数学形态学边缘检测算法;实验结果表明,与传统边缘检测算法相比,该算法在保持图像边缘清晰的同时.有很强的去除噪声能力.     

常用边缘检测技术的对比

边缘检测是图像处理和计算机视觉中的基本问题,边缘检测的目的是标识数字图像中亮度变化明显的点.经典的边缘检测算法如canny算子等是通过计算图像中局部小区域的差分来实现边缘检测的.这类算子对噪声非常敏感,并且常常会在检测边缘的同时加强噪声.多尺度形态学边缘检测利用不同的结构元素去作用图像,通过形态腐性和形态膨胀操作,获得了效果很好的图像边缘检测算法.单尺度形态学梯度算子也能很好提检测图像边缘,但结构元素的选取对输出结果影响较大.通过使用多尺度形态学梯度算子,可以弥补结构元素的大小问题.仿真结果表明,该算法能得到较为理想的图像边缘信息,其抗噪声性能明显优于经典的算子检测算法.     

基于多尺度形态学梯度的医学图像边缘检测

边缘检测是数字图像处理的一个重要内容,经典的边缘检测算子算法主要采用Prewitt算子、LOG算子、Canny算子等在空域中进行.数学形态学利用结构元素去探测图像,在讨论形态腐蚀和形态膨胀的基础上,提出了一种基于多尺度形态学梯度的医学图像边缘检测算法.单尺度形态学基元随着尺度的增大形成新的更大尺寸的结构元素,从而检测不同的边缘信息,最终重建较理想的图像边缘.仿真结果表明,该算法在含噪图像中能得到较为理想的图像边缘信息,其抗噪声性能明显优于经典的算子检测算法,检测精度较经典的单一梯度算子检测方法亦有一定的改善.     

一种基于改进的形态学算子的边缘检测算法

本文提出了一种基于改进的形态学算子和多尺度多结构元素思想的边缘检测算法.改进的抗噪型形态学边缘检测算子增强了图像边缘检测时的抗噪能力,采用多尺度和多结构元素构建的边缘检测算法既具有较好的抗噪能力,同时可检测更多边缘方向.实验结果表明,该算法具有较好的抗噪能力,在检测出更多的边缘方向的同时可保留较多的边缘细节,具有较强的...     

彩色遥感图像的一种边缘检测算法研究

针对彩色遥感图像的复杂性、模糊性和噪声强等特点,提出了一种基于多方向模糊形态学梯度的彩色遥感图像边缘检测算法.算法在模糊域中用多个不同方向的结构元素,对彩色遥感图像进行模糊形态学梯度运算以检测彩色遥感图像边缘,不但能检测出具有方向性的真实边缘,还能有效抑制无方向性的噪声.实验证明,该算法对彩色遥感图像进行边缘检测的有效性.     

基于灰度形态学与小波相位滤波的高分辨率遥感影像边缘检测

为了更好地获取高分辨率遥感影像的边缘信息,提出一种新的影像边缘检测方法。该方法首先利用主成分分析(PCA)变换获取影像的主要信息;然后采用symletsA小波对其进行分解,并用形态学算子对各尺度影像进行处理;最后利用小波相位滤波算法在同一尺度上进行相关性滤波以增强图像边缘,并通过OTSU算法进行分割获取其边缘信息。结果表明：与现有算法相比,该方法对边缘的定位更加精确,边缘检测效果更加明显。     

一种基于改进算子的形态学边缘检测算法

针对传统的边缘检测算法存在的不足,文中基于修正的边缘检测算子和形态滤波思想,采用多尺度和多结构元素,提出了一种新的多结构多尺度形态学灰度图像边缘检测算法,通过构造新算子实现边缘检测。在该算法中,分别将各个结构元素下的检测结果进行加权求和,得到图像的边缘。实验表明,和其他的传统或形态学边缘检测算法相比,文中方法具有更好的噪声抑制能力,而且边缘定位准确,检测到的边缘轮廓更加清晰完整。     

基于形态学和小波的遥感图像边缘检测

针对遥感图像噪声含量大、边缘细节丰富等特点,提出了一种基于形态学和小波分析相结合的遥感图像边缘检测方法,即利用小波变换将遥感图像分解为低频和高频两部分分别进行处理,低频采用形态学锐化算法改善低频边缘清晰度后构造全方位多结构元素进行形态学边缘检测,高频引入小波阈值去噪算法进行预处理后利用小波模极大值进行边缘检测,最后进行边缘图像融合.实验结果表明:该方法在有效抑制噪声的同时,实现了边缘的精确定位,细节提取效果好.     

自适应权重形态学边缘检测算法仿真研究

提出了一种自适应权重的多刻度形态学边缘检测算法。该算法首先在同一尺度下用多个结构元素分别进行边缘检测,并得到该尺度下的边缘图像,利用形态学结构元素“探针”原理和不同尺度结构元素抗噪性能来确定加权值的大小,然后对不同尺度下的边缘图像进行加权求和,再经过二值化、去噪等处理,得到最后的边缘检测结果。仿真结果表明,该方法具有较好的抗干扰性和定位准确性,得到的边缘更为完整。     

基于形态学的边缘检测

提出假高帽变换和多尺度形态学结构元素相结合的方法进行边缘检测.首先说明假高帽变换的基本原理,接着结合多尺度结构元素进行边缘检测,最后依据不同尺度下的图像标准差确定的权值进行边缘融合,得到理想的边缘.该方法有效克服了传统边缘检测方法和经典形态学边缘检测方法的局限性,具有一定的通用性和实用性.     

改进的形态学肺部图像边缘检测

针对肺部图像边缘检测中存在的噪声问题,在数学形态学边缘检测的基础上做了3点改进:(1)结合结构元素3个基本选取原则,即形状的相似性、尺寸的覆盖性和不同结构元素的组合性,选取适合肺部图像的全方位结构元和多尺度结构元;(2)改进了普通的形态学边缘检测算子,将全方位结构元和多尺度结构元相结合,得到适用于肺部图像的新型复合形态学边缘检测算子;(3)将峰值信噪比(Peak signal-to-noise ratio, PSNR)加入权值计算方法中,改进了权值的计算方法。最后通过仿真实验,对PSNR为50684 9 dB的肺部噪声图像进行边缘检测,并与一般算法进行比较,结果表明改进算法在PSNR和均方误差(Mean square error, MSE)上均有明显改善,能够检测出更清晰、去噪效果更好的肺部图像边缘。应用于其他图像或加入不同噪声时,本文算法也能检测出更清晰的图像边缘,表明该算法具有很好的鲁棒性。     

基于空间结构统计建模的图像分类方法

提出一种基于图像空间结构统计建模的复杂纹理图像模式识别方法。从理论上分析了复杂纹理图像空间结构的韦伯分布过程,通过构造多尺度全向高斯导数滤波器,获得复杂纹理图像在不同观测尺度上的全方向空间结构统计建模表征结果。基于偏最小二乘-判决分析原理构建分类器,实现了复杂纹理图像的分类识别。实验结果表明,所提出的图像空间结构统计建模方法能获得复杂纹理图像关键性的视觉感知特性,基于该方法的图像分类准确率高且性能稳定。     

基于小波多尺度分解的互补全景图像融合

为了解决折反射成像内外环分辨率低且不均匀的问题,针对互补全景图像的特点,提出了一种基于小波多尺度分解的图像融合方法。首先对两幅互补的源图像分别进行小波多尺度分解,得到不同分辨率、不同方向的分量;其次,按照特定的融合策略,低频采用平均算子进行融合,高频采用逐层互换的融合策略进行融合;最后,通过小波逆变换得到融合图像。实验结果表明,该方法在互补全景图像的融合中简单有效,并且拥有较好的效果。     

An approach to robot SLAM based on incremental appearance learning with omnidirectional vision

Localisation and mapping with an omnidirectional camera becomes more difficult as the landmark appearances change dramatically in the omnidirectional image. With conventional techniques, it is difficult to match the features of the landmark with the template. We present a novel robot simultaneous localisation and mapping (SLAM) algorithm with an omnidirectional camera, which uses incremental landmark appearance learning to provide posterior probability distribution for estimating the robot pose under a particle filtering framework. The major contribution of our work is to represent the posterior estimation of the robot pose by incremental probabilistic principal component analysis, which can be naturally incorporated into the particle filtering algorithm for robot SLAM. Moreover, the innovative method of this article allows the adoption of the severe distorted landmark appearances viewed with omnidirectional camera for robot SLAM. The experimental results demonstrate that the localisation error is less than 1 cm in an indoor environment using five landmarks, and the location of the landmark appearances can be estimated within 5 pixels deviation from the ground truth in the omnidirectional image at a fairly fast speed.     

Robust omnidirectional mobile robot topological navigation system using omnidirectional vision

Robust topological navigation strategy for omnidirectional mobile robot using an omnidirectional camera is described. The navigation system is composed of on-line and off-line stages. During the off-line learning stage, the robot performs paths based on motion model about omnidirectional motion structure and records a set of ordered key images from omnidirectional camera. From this sequence a topological map is built based on the probabilistic technique and the loop closure detection algorithm, which can deal with the perceptual aliasing problem in mapping process. Each topological node provides a set of omnidirectional images characterized by geometrical affine and scale invariant keypoints combined with GPU implementation. Given a topological node as a target, the robot navigation mission is a concatenation of topological node subsets. In the on-line navigation stage, the robot hierarchical localizes itself to the most likely node through the robust probability distribution global localization algorithm, and estimates the relative robot pose in topological node with an effective solution to the classical five-point relative pose estimation algorithm. Then the robot is controlled by a vision based control law adapted to omnidirectional cameras to follow the visual path. Experiment results carried out with a real robot in an indoor environment show the performance of the proposed method.     

基于虚拟力的LoRa浮标网络覆盖优化算法

无线传感网络（WSN）节点部署问题是目前无线传感网络应用研究的关键点。针对传统网络节点部署存在收敛速度慢、全局优化性能不强、感知角度受限的问题,提出一种虚拟力导向的全向感知覆盖算法（VFOPCA）。该算法在传统虚拟力算法的基础上提出热点区域与节点间的受力模型,并采用0/1圆盘覆盖模型,对网络节点部署进一步优化。实验仿真表明,虚拟力导向的全向感知覆盖算法能快速有效地实现网络节点全局优化部署,与VFA、DACQPSO等全向感知模型算法相比,该算法覆盖程度更好、收敛速度更快、能耗程度更低。     

Design and Control of a Four‐Wheeled Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels

Omnidirectional mobile robots are capable of arbitrary motion in an arbitrary direction without changing the direction of wheels, because they can perform 3 degree‐of‐freedom (DOF) motion on a two‐dimensional plane. In this research, a new class of omnidirectional mobile robot is proposed. Since it has synchronously steerable omnidirectional wheels, it is called an omnidirectional mobile robot with steerable omnidirectional wheels (OMR‐SOW). It has 3 DOFs in motion and one DOF in steering. One steering DOF can function as a continuously variable transmission (CVT). CVT of the OMR‐SOW increases the range of velocity ratio from the wheel velocities to robot velocity, which may improve performance of the mobile robot. The OMR‐SOW with four omnidirectional wheels has been developed in this research. Kinematics and dynamics of this robot will be analyzed in detail. Various tests have been conducted to demonstrate the validity and feasibility of the proposed mechanism and control algorithm. © 2004 Wiley Periodicals, Inc.     

轮子打滑状态下全向移动机器人轨迹跟踪控制

针对全向移动机器人轨迹跟踪控制中存在未知轮子打滑干扰问题,设计自抗扰反步控制器.首先,建立存在轮子打滑扰动的全向移动机器人的运动学模型;然后,融合自抗扰控制技术与反步控制技术,设计基于全向移动机器人运动学模型的轨迹跟踪控制器,该控制器分别从纵向控制、横向控制及姿态控制上对打滑干扰进行实时估计与补偿;最后,利用Lyapunov定理分析闭环系统的稳定性并通过仿真实验验证了所提出控制算法的有效性和鲁棒性.     

Robust and real-time self-localization based on omnidirectional vision for soccer robots

Self-localization is the basis to realize autonomous ability such as motion planning and decision-making for mobile robots, and omnidirectional vision is one of the most important sensors for RoboCup Middle Size League (MSL) soccer robots. According to the characteristic that RoboCup competition is highly dynamic and the deficiency of the current self-localization methods, a robust and real-time self-localization algorithm based on omnidirectional vision is proposed for MSL soccer robots. Monte Carlo localization and matching optimization localization, two most popular approaches used in MSL, are combined in our algorithm. The advantages of these two approaches are maintained, while the disadvantages are avoided. A camera parameters auto-adjusting method based on image entropy is also integrated to adapt the output of omnidirectional vision to dynamic lighting conditions. The experimental results show that global localization can be realized effectively while highly accurate localization is achieved in real-time, and robot self-localization is robust to the highly dynamic environment with occlusions and changing lighting conditions.