A checkerboard corner detection method and device suitable for low-quality images
A checkerboard and point detection technology, applied in the field of image recognition, can solve the problems of poor anti-noise performance, relatively high image quality requirements, and low accuracy of recognition results, and can solve the problems of high image quality requirements and high robustness. Effect
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Embodiment 1
[0031] Embodiment 1 of the present invention proposes a checkerboard corner detection method suitable for low-quality images, such as Figure 4 shown, including:
[0032] S11. Obtain a checkerboard image.
[0033] Various common digital image acquisition methods can be used to obtain the checkerboard image, for example, a black and white checkerboard calibration board photographed by a digital camera. figure 1 It is a black and white checkerboard calibration board taken by a digital camera.
[0034] The corner point of the black and white checkerboard calibration board refers to the critical point at the junction of the black and white grids in the checkerboard, and is adjacent to the four black and white grids.
[0035] S12. Perform corner enhancement filtering on the acquired checkerboard image to obtain an enhanced checkerboard image.
[0036] Since the checkerboard image is a black-and-white grid mutation area, in order to accurately extract the corner points, it is nec...
Embodiment 2
[0087] Embodiment 2 of the present invention proposes a checkerboard corner detection method suitable for low-quality images, such as Figure 9 shown, including:
[0088] S21. Obtain a checkerboard image.
[0089] It is the same as S11 in Embodiment 1 and will not be repeated here.
[0090] S22. Perform corner enhancement filtering on the acquired checkerboard image to obtain an enhanced checkerboard image.
[0091] It is the same as S12 in Embodiment 1 and will not be repeated here.
[0092] S23. Perform binarization and dilation and corrosion processing on the enhanced checkerboard image. Obtain the checkerboard image after binarization and dilation and erosion processing.
[0093] Step S23 carries out binarization and expansion and corrosion processing to the enhanced checkerboard image; the specific steps are:
[0094] S231. Set the third threshold of the grayscale image to be RT. If the grayscale value of a certain pixel in the image is greater than RT, assign its va...
Embodiment 3
[0135] Embodiment of the invention three A checkerboard corner detection setup suitable for low-quality images is proposed, such as Figure 10 As shown, it includes: a checkerboard image acquisition module 11 , an enhancement filter module 12 , a binarization and expansion erosion module 13 , a target area determination module 14 and a corner point determination module 15 . in:
[0136] Checkerboard image acquisition module 11: used to acquire the checkerboard image;
[0137] Enhanced filtering module 12: used to perform corner enhancement filtering on the acquired checkerboard image to obtain an enhanced checkerboard image;
[0138] The enhanced filtering module 12 includes: a first filtering module and a second filtering module. in:
[0139] The first filtering module: used for performing corner region enhancement on the acquired checkerboard image through a first filter to obtain a first filtered image.
[0140] The first filter is: assuming that i is the abscissa and...
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