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A line detection Algorithm Based on Error Propagation

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A Line Detection Algorithm Based on Error Propagation

第二十六届中国控制会议

作者： Gao Xiao qing,Peng Tao College of computer Science,Wuhan University of Science and Engineering,Wuhan 430073,P.R.China

The line detection by traditional Hough Transform has two insufficiencies,one is computationally expensive and memory consuming,the other is the insufficiency of *** scheme adopts the principle of error propagation,analyses the error of line detection by Hough Transform in detail,and obtains the factors influencing the *** error not only de-pends on the noise of the image,but also depends on the distance of the line to origin.A 3×3 window is used to search the best-distinguished pixels and limit the scope *** on the best-distinguished pixels and error propagation,the al-gorithm can improve the accuracy of the line detection by *** computational efficiency of the scheme is not very well because of analyzing the error and finding the best-distinguished pixels,but for the application of high accuracy,it works well.

关键词： Error Propagation Hough Transform line detection line Fitting

Walking Goal line detection Based on DM6437 on Harvesting Robot

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Walking Goal Line Detection Based on DM6437 on Harvesting Ro...

Computer and Computing Technologies in Agriculture V——5th IFIP TC 5/SIG 5.1 Conference(CCTA 2011) Part Ⅲ

作者： Gang Wu Yu Tan Yongjun Zheng Shumao Wang College of Engineering China Agricultural University

As to aided driving by harvesting robot,there is the large amount of image data processing,meanwhile,harvesting robot requires real-time image processing and to calculate the linear parameters in a straight line detection of the walking target *** paper presents a hardware processing platform to TMS320DM6437 digital signal processor as the core processing chip,and an improved Hough transform algorithm which is based on a determined point is proposed to complete line detection.A camera is to be fitted on the left top of the combine harvester in order to capture images of farmland scenes in the process of *** first,according to different color characteristics of harvested areas and non-harvested areas,improved methods of Maximum entropy threshold segmentation and morphological approach are employed to determine candidate points of walking goal *** the candidate points are selected as the point ***,the improved Hough transform based on a determined point is applied to complete line *** algorithm simplifies binary map to unitary *** with the traditional Hough transform,it saves computing time,and reduces the parameter space *** multiple images processing,tests show that this detection method can detect real-time parameters of harvesting robot's walking goal line,and the algorithm is well proved with respect to its speed,anti-interference and accuracy.

关键词： TMS320DM6437 Harvesting Robot line detection Hough Transform

A Hough Transform Based line detection Method Utilizing Improved Voting Scheme

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A Hough Transform Based Line Detection Method Utilizing Impr...

第二十九届中国控制会议

作者： CHANG Huayao,WANG Junzheng,WANG Lipeng School of Automation,Beijing Institute of Technology,Beijing 100081,P.R.China

Detecting lines from a digital image is an important step in many *** Hough Transform（HT）is a powerful tool for line extraction due to its global vision and robustness in noisy and degraded *** at solving the problems associated with the HT:the heavy computational cost and considerable degeneration in performance,a new method utilizing improved voting scheme for the HT is *** separating the edge pixels into clusters of approximately collinear pixels,linear regression is used to find the orientation of each *** by the value of determination coefficient,clusters are chosen for voting directlyor voting around its main *** blur is used in peak detection for reducing adjacent *** results show efficiency of the proposed method in terms of detection rate,time and memory saving,and the robustness to spurious lines.

关键词： Hough Transform line detection Determination Coefficient

One airport detection method based on support vector machine

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Frontiers of Electrical and Electronic Engineering in China 2007年第4期2卷 444-448页

作者： QU Yanyun ZHENG Nanning LI Cuihua Institute of Artificial Intelligence and Robotics Xi’an Jiaotong UniversityXi’an 710049China Computer Science Department Xiamen UniversityXiamen 361005China

This paper proposes a novel airport detection method,which integrates the texture features and shape features of the *** texture features,such as the mean of the region,the deviation of the region,the smoothness of the region,the skewness of a histogram,the uniformity of the region,the randomness of the region,the mean of the gradient image and the deviation of the gradient image,are used to represent the features of the *** this method,first the long lines are detected and the regions where the lines locate are ***,support vector machine(SVM)based on Gaussian kernel is used as a classifier which discriminates the runway from other candidate *** results show that the error rate of the proposed method is lower than those of conventional methods which detect airport only by the shape feature of *** detection accuracy of the proposed method is nearly ten times higher than that of Liu’s methods,and the method has favorable speed for a real-time system.

关键词： airport detection support vector machine line detection

On-orbit real-time robust cooperative target identification in complex background

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Chinese Journal of Aeronautics 2015年第5期28卷 1451-1463页

作者： Wen Zhuoman Wang Yanjie Arjan Kuijper Di Nan Luo Jun Zhang Lei Jin Minghe Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences University of the Chinese Academy of Sciences Fraunhofer Institute for Computer Graphics Research Technische Universitt Darmstadt State Key Laboratory of Robotics and System Harbin Institute of Technology

Cooperative target identification is the prerequisite for the relative position and orientation measurement between the space robot arm and the to-be-arrested object. We propose an on- orbit real-time robust algorithm for cooperative target identification in complex background using the features of circle and lines. It first extracts only the interested edges in the target image using an adaptive threshold and refines them to about single-pixel-width with improved non-maximum suppression. Adapting a novel tracking approach, edge segments changing smoothly in tangential directions are obtained. With a small amount of calculation, large numbers of invalid edges are removed. From the few remained edges, valid circular arcs are extracted and reassembled to obtain circles according to a reliable criterion. Finally, the target is identified if there are certain numbers of straight lines whose relative positions with the circle match the known target pattern. Experiments demonstrate that the proposed algorithm accurately identifies the cooperative target within the range of 0.3 1.5 m under complex background at the speed of 8 frames per second, regardless of lighting condition and target attitude. The proposed algorithm is very suitable for real-time visual measurement of space robot arm because of its robustness and small memory requirement.

关键词： Circle detection Edge extraction Edge tracking line detection Robot vision Space robot arm

Three-line structured light vision system for non-cooperative satellites in proximity operations

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Chinese Journal of Aeronautics 2020年第5期33卷 1494-1504页

作者： Yang LIU Zongwu XIE Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150000China

Adapter ring is a commonly used component in non-cooperative satellites,which has high strength and is suitable to be recognized and grasped by the space *** proximity operations,this circle feature may be occluded by the robot arm or limited field of ***,the captured images may be underexposed when there is not enough *** address these problems,this paper presents a structured light vision system with three line lasers and a monocular *** lasers project lines onto the surface of the satellite,and six break points are formed along both sides of the adapter ring.A closed-form solution for real-time pose estimation is given using these break ***,a virtual structured light platform is constructed to simulate synthetic images of the target *** with the predefined camera parameters and relative positions,the proposed method is demonstrated to be more effective,especially at a close ***,a physical space verification system is set up to prove the effectiveness and robustness of our method under different light *** results indicate that it is a practical and effective method for the pose measurement of on-orbit tasks.

关键词： Adapter ring line detection Non-cooperative target Pose measurement Space robot Structured light

A Study on Fast and Robust Vanishing Point detection System Using Fast M-Estimation Method and Regional Division for In-vehicle Camera

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Journal of Electrical Engineering 2018年第2期6卷 107-115页

作者： Yuki Kondo Munetoshi Numada Hiroyasu Koshimizu Ichiro Yoshida Faculty of Science and Engineering Hosei University Tokyo 184-8584 Japan Faculty of Engineering Chukyo University Aichi 466-8666 Japan

The vanishing point detection technology helps automatic driving. In this paper, the straight lines on the road associated with the vanishing point are extracted efficiently by using the regional division and angle limitation. And, the vanishing point is detected robustly by using the fast M-estimation method. Proposed method could detect straight-line features associated with vanishing point detection efficient on the road. And the vanishing point was detected exactly by the effect of the fast M-estimation method when the straight-line features not associated with vanishing point detection were detected. The processing time of the proposed method was faster than the camera flame rate （30 fps）. Thus, the proposed method is capable of real-time processing.

关键词： Automatic driving Hough transform fast M-estimation method line detection vanishing point

A Robust Rail Positioning Method for Turnout and Non-turnout Sections

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A Robust Rail Positioning Method for Turnout and Non-turnout...

第40届中国控制会议

作者： Shixiang Su Shuzhen Tong Xiaobo Lu Yun Wei School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Beijing Mass Transit Railway Operation Corporation Limited

Rail positioning is an essential task for railway track defect detection. The turnout is one of the main components of railway tracks. In order to realize the positioning of rails in turnout sections and non-turnout sections, this paper proposes a robust rail positioning method based on double sliding windows. Firstly, extract lines from the preprocessed image. Secondly,lines are discretized into points, and then all points are projected to the x-axis of the image. Finally, a double sliding window method is used to search for the rail area. The experimental results show that the proposed method can effectively identify the rail’s location in the turnout area, and the detection accuracy can reach 99%. What’s more, it has strong adaptability to complex detection environments such as curved rail or broken rail.

关键词： Rail positioning Turnout Railway line detection Sliding window

Research on Automobile Distance Measurement System on Highway Based on Vehicle-mounted Camera

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Research on Automobile Distance Measurement System on Highwa...

2012年计算机应用与系统建模国际会议

作者： Lu Zhiying Han Chunyan Lin Lichen Department of Electrical Engineering and Automation Tianjin University

Poor visibility brings the safety issues to the automobile running on highway in fog weather. The research of vehicle distance measurement system can help driver better estimate the distance between the car and the car in front and make opportune anti-collision action even in poor visibility. Firstly, the related intrinsic parameters are obtained through camera calibration based on checkerboard image;Secondly, the geometric information of road markings and the position relationship between the car and the car in front are extracted from the images obtained by camera;Finally, the real distance is obtained by the transforms from image coordinate to camera coordinate and then to world coordinate with the camera intrinsic parameters. It is proved that the experimental result is similar to the real value and meets the requirement. Furthermore, the camera self-calibration method which can reduce the impact of human action and make the foundation for the further study on camera calibration, is proposed.

关键词： Camera calibration Corner extraction line detection Distance measurement Matlab simulation