A new straight line detection method in images for robot seam tracking

作     者：陈强 张文增 都东 孙振国 张国贤 

作者机构：Key Laboratory for Advanced Manufacturing by Materials Processing Technology Ministry of Education Department of Mechanical Engineering Tsinghua University 

出 版 物：《China Welding》 (中国焊接（英文版）)

年 卷 期：2006年第15卷第2期

页      面：1-5页

核心收录：

学科分类：0817[工学-化学工程与技术] 080202[工学-机械电子工程] 08[工学] 0807[工学-动力工程及工程热物理] 0804[工学-仪器科学与技术] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0801[工学-力学（可授工学、理学学位）] 

基　　金：This research was funded by Key Laboratory for Advanced Manufacturing by Materials Processing Technology, Ministry of Education, The Research Fund for the Doctoral Program of Higher Education (No. 20020003053) National Natural Science Foundation of China ( No. 50275083 ) 

主　　题：robot welding image processing line detection gray projecting integral 

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.