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| 基于段测试的X角点检测与亚像素定位 | |
| 引用本文： | 魏军,刘达,王田苗,曹莉.基于段测试的X角点检测与亚像素定位[J].机器人,2011,33(1):97-101. |
| 作者姓名： | 魏军 刘达 王田苗 曹莉 |
| 作者单位： | 1. 济南大学控制科学与工程学院,山东济南,250022;北京航空航天大学机械工程及自动化学院,北京,100191 2. 北京航空航天大学机械工程及自动化学院,北京,100191 3. 济南大学控制科学与工程学院,山东济南,250022 |
| 基金项目： | 国家杰出青年科学基金资助项目（60525314）；国际科技合作计划资助项目（2006DFA12290）． |
| 摘 要： | 针对X角点快速检测和精确定位要求,提出了一种实时识别、定位X角点的方法:首先,根据X角点图像对称性和亮度分布特征,筛选出候选X角点;随后,对候选X角点进行段测试,确认候选X角点,并检出测试段中位于图像边缘上的像素,进行角点的亚像素定位.与Harris算法比较,该方法能有效检测X角点并排除其他类型角点,具有较高的定位精度... |
| 关 键 词： | 角点检测 亚像素定位 立体视觉 |
| 收稿时间： | 2010-04-02 |
| 修稿时间： | 2010-10-13 |
Segment Test Based X Corner Detection and Sub-pixel Localization |
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| WEI Jun,LIU Da,WANG Tianmiao,CAO Li.Segment Test Based X Corner Detection and Sub-pixel Localization[J].Robot,2011,33(1):97-101. | |
| Authors: | WEI Jun LIU Da WANG Tianmiao CAO Li |
| Affiliation: | WEI Jun~(1,2),LIU Da~2,WANG Tianmiao~2,CAO Li~1 (1.School of Control Science and Engineering,University of Jinan,Jinan 250022,China,2.School of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China) |
| Abstract: | In order to achieve the ability of rapidly detecting and accurately locating X corners, a real-time method to locate X corner is proposed. Firstly, the image is filtered to find X corner candidates according to symmetry and intensity distribution characteristics of X corner image, and then the segment test is performed for each X corner candidate to confirm it’s a X corner, find edges and localize corner in sub-pixel. Experiments show that compared with Harris algorithm, the method can detect X corners and eliminate other corners, provides better positioning accuracy and higher detection speed, and has the capability to process PAL images online and in real time. |
| Keywords: | corner detection sub-pixel localization stereo vision |
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