| A new straight line detection method in images for robot seam tracking |
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| 作者姓名： | 陈强 张文增 都东 孙振国 张国贤 |
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| 作者单位： | Key Laboratory for Advanced Manufacturing by Materials Processing Technology, Ministry of Education; Department of Mechanical Engineering, Tsinghua University, Beijing, 100084 |
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| 基金项目： | 教育部重点实验室基金;中国科学院资助项目 |
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| 摘 要： | A new efftcient straight line detection algorithm, GPI （ Gray Projecting Integral） method is proposed. The gray values of a sub-window are projected onto a line, and sum the gray values which are projected onto one same point to shape a special vector, then rotate the projecting direction, obtain many such vectors corresponding to different projecting directions. The vectors can form a matrix, a GPI matrix of the sub-image. The problem of lines detection is converted into maxima or minima searching problem in the GPI matrix. Bused on the GPI matrix, the lines can be calculated. Different from traditional methods, the algorithm can detect the positions of lines accurately, quickly without previous edge detection, which costs less time, and avoids the error resulted from the poor threshold with traditional methods. This algorithm is useful and efftcient for numerous image understanding applications and robot visual navigation, especially for welded joint position detection in heavy noise.
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| 关 键 词： | 机器人焊接 图象处理 曲线检验 焊缝跟踪 |
A new straight line detection method in images for robot seam tracking |
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| Chen Qiang,Zhang Wenzeng,Du Dong,Sun Zhenguo,Zhang Guoxian.A new straight line detection method in images for robot seam tracking[J].China Welding,2006,15(2):1-5. |
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| Authors: | Chen Qiang Zhang Wenzeng Du Dong Sun Zhenguo Zhang Guoxian |
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| Abstract: | A new efficient straight line detection algorithm, GPI (Gray Projecting Integral) method is proposed. The gray values of a sub-window are projected onto a line, and sum the gray values which are projected onto one same point to shape a special vector, then rotate the projecting direction, obtain many such vectors corresponding to different projecting directions. The vectors can form a matrix, a GPI matrix of the sub-image. The problem of lines detection is converted into maxima or minima searching problem in the GPI matrix. Based on the GPI matrix, the lines can be calculated. Different from traditional methods, the algorithm can detect the positions of lines accurately, quickly without previous edge detection, which costs less time, and avoids the error resulted from the poor threshold with traditional methods. This algorithm is useful and efficient for numerous image understanding applications and robot visual navigation, especially for welded joint position detection in heavy noise. |
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| Keywords: | robot welding image processing line detection gray projecting integral |
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