利用特征点序列截断的图像匹配判决算法

当图像中特征点缺失比较严重时,利用特征点S维分配算法和K均值聚类算法的图像匹配性能较差。此外,随着待匹配图像数量的增加,上述两类算法的计算量急剧上升。针对上述问题,提出一种新的图像匹配判决算法——利用特征点序列截断的匹配判决。该算法利用了匹配特征点之间的匹配度量大于非匹配特征点之间的匹配度量,以及同一匹配簇中来源于同一图像的特征点不超过一个的先验知识,一方面对特征点缺失具有较强的鲁棒性,另一方面克服了上述两类算法中的组合爆炸问题。仿真实验证实了所提算法的有效性。     

应用多个正交视角轮流逼近3维目标的坐标

为实现目标的快速、精确3维定位和跟踪,提出一种正交摄像机视频定位系统及其坐标轮流逼近的迭代定位算法。系统中平面摄像机光轴按照正交方式布置,拍摄方向均指向原点。不同于现有的大部分计算机视觉方法,本算法中没有影响定位效率和精度问题的图像配准操作。证明了迭代算法的收敛性。数值验证和实际试验表明,本算法计算简单、误差稳定性好,收敛快,因此具有良好的应用潜力。     

用于视觉传感器的有理系数小波滤波器的设计

有理系数小波滤波器的设计可以通过降低小波函数消失矩阶数来实现,但设计方程中出现的自由变量的取值需要在一定的范围之内,因为需要满足Daubechies紧支集条件。归纳总结了有理系数小波滤波器的设计过程,并以长度为4的有理系数小波滤波器设计为例,对如何确定设计方程中自由变量的取值范围进行了讨论,以得到适用于视觉传感器图像处理算法硬件实现的有理系数小波滤波器。     

基于投影匹配的目标姿态测量方法研究

提出一种在图像投影匹配基础上进行的目标姿态测量新方法,避免了传统姿态测量中左右像面目标的特征匹配或灰度匹配.二维投影相关法是基于二维投影的灰度相关匹配算法,主要利用匹配图像相邻像素的灰度值的大小关系应该相同的原理进行图像匹配.在此基础上采用双目视觉测量空间轴对称目标姿态,应用面面交会法获取轴对称目标在像面的轴线,进行三维姿态测量.模拟实验结果表明:该方法姿态角测量误差小于0.2°;且计算速度快,结果稳定,能够满足处理的要求.     

3D靶标的摄像机三步标定算法与实现

摄像机标定是计算机视觉中的一个必不可少的重要环节,其标定精度影响着三维重建结果的精度。利用摄像机对一个三维正交的棋盘格拍摄一幅有效靶标图像,提取角点,第一步通过透视变换矩阵算法线性求解各内外参数;第二步引入径向和切向畸变,将第一步求得的内外参数作为初始值,求得畸变系数的解;第三步对内参数进行线性优化,得到更为精确的内参数值;最后求解反投影后图像坐标的绝对误差。实验结果表明,该方法具有较高的精度,且简单有效。     

基于微观图像的加工表面3维形貌重建算法研究

切削加工表面由于微观不平度及镜面效应的存在,使得照射其上的光线具有多次散射及后向散射的特性,从而影响了以工件表面图像3维重建形貌的精度。提出了一种基于二向反射分布函数的表面重建算法,构造了以Hapke模型表达的金属切削表面重建方程。该算法以重建方程离散化为手段,计算出光源和物体的倾角和偏角,得到光源和物体的梯度值,最后采用全微分方程对物体表面高度进行恢复。通过对实际切削加工表面图像3维形貌重建结果与触针式测量结果的对比表明,重建形貌粗糙度轮廓贴近实测粗糙度轮廓,证明了本文算法的准确、有效性,为加工表面3维形貌的重建提供了新的思路和方法。     

嵌入式机器视觉实时定位与测量的方法

本文提出了一种嵌入式机器视觉实时定位与测量相结合的测控方法。根据视觉测控系统中的定位与测量问题,利用点集、Hough变换和最小二乘等方法,解决了图像处理理论算法运算量大、工业检测实时性与准确性低等问题。测试结果表明,该方法检测工件的准确性高(基于公差),检测时间≤2.0ms/次。     

Forming processes control by means of artificial intelligence techniques

Forming processes are manufacturing processes that use force and pressure in order to modify the shape of a material part until obtaining the final product. The wide range of non-linear factors that drive this sort of processes make them very complex and extremely difficult to be controlled. Traditional control techniques, like PID controllers, have not offered a reliable solution when global control has been pursued and the figure of the operator still remains present in most of the forming facilities. On the other hand, although operators have demonstrated to be a very successful strategy when controlling this type of processes, the actual market evolution towards the fabrication of more complex parts, made of lower formability materials at higher production rates, is decreasing their capacity of reaction when solving the daily problems. Thus, the development of new global control systems based not on traditional control techniques and mathematical models but on the control strategy that has been used successfully for many years, the control through the experience and knowledge is now even more necessary. In the present work, an intelligent control system based on one of the main techniques within the artificial intelligence, expert systems, has been developed. The main purpose of this intelligent control system is to emulate the decisions that expert operators take but in a quicker and more reliable way. The developed intelligent control system has been installed in a blanking facility and very good results have been achieved.     

VICUR: A human-vision-based algorithm for curve reconstruction

In this paper, a new algorithm, named VICUR, is presented for curve reconstruction problem. From a set of unorganized points, the proposed algorithm can construct curves that look natural to human vision. The VICUR algorithm is based on two connectivity criteria: proximity and good continuation from the prominent Gestalt principles of perception. Experimental results are presented to show the effectiveness of VICUR.     

Detailed Real-Time Urban 3D Reconstruction from Video

The paper presents a system for automatic, geo-registered, real-time 3D reconstruction from video of urban scenes. The system collects video streams, as well as GPS and inertia measurements in order to place the reconstructed models in geo-registered coordinates. It is designed using current state of the art real-time modules for all processing steps. It employs commodity graphics hardware and standard CPU’s to achieve real-time performance. We present the main considerations in designing the system and the steps of the processing pipeline. Our system extends existing algorithms to meet the robustness and variability necessary to operate out of the lab. To account for the large dynamic range of outdoor videos the processing pipeline estimates global camera gain changes in the feature tracking stage and efficiently compensates for these in stereo estimation without impacting the real-time performance. The required accuracy for many applications is achieved with a two-step stereo reconstruction process exploiting the redundancy across frames. We show results on real video sequences comprising hundreds of thousands of frames.