Step edge detection method oriented to humanoid robot

Abstract

The invention relates to a step edge detection method oriented to a humanoid robot, which comprises the following steps of: 1) preprocessing an image to the detected; 2) judging the image; 3) conducting morphological processing to the image; 4) processing the image to obtain the edges of phototropic steps; 5) seeking threshold values and converting the image into a binary image to obtain the edges of apheliotropic steps; 6) using edge lines at the step 5 to segment the image at the step 2 and conducting gray stretching to parts with high gray values to obtain a new image; 7) conducting gradient transform according to the new image obtained at the step 6 to obtain a gradient image; 8) conducting invert color transform according to the new image obtained at the step 6 and then conducting gradient transform to obtain another gradient image; 9) adding the corresponding pixel points of the two gradient images respectively obtained at the step 7 and the step 8 to obtain the edges of the image; and 10) fusing the edges obtained at the step 5 and the edges obtained at the step 9 into one image. The edge detection method provided by the invention can satisfy the requirements on the timeliness and the accuracy of the vision of the robot.

Description

technical field [0001] The invention belongs to the technical field of image detection and segmentation, and in particular relates to a step edge detection method for humanoid robots. Background technique [0002] Robot vision technology mainly studies the use of computers to simulate human visual functions to extract information from images of objective things, process and understand them, and finally use them in actual detection, measurement and control. It is the intersection and combination of multiple disciplines, and the research goals of many disciplines are similar to or related to robot vision technology. These disciplines include image processing, pattern recognition or image recognition, scene analysis, image understanding, etc. Image processing is the basis of visual technology. The processed image is an objective reflection of natural scenery and an important way to perceive the surrounding environment. [0003] The shape characteristic in the image is an impo...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problems existing in the above-mentioned robot vision technology, the present invention uses the idea of ​​separate processing to propose a step edge detection method for humanoid robots, that is, first judge the environment of image acquisition, and then process it separately according to different environmental conditions The method adopts a simple processing method when the image is not complex and adopts a segmentation processing method when the image is complex, which not only ensures the processing speed, but also ensures the processing accuracy, thus conforming to the timeliness and accuracy of machine vision. sexual demands

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