Method for removing shadows and halos under weak light through indoor polling robot
A technology of inspection robots and robots, applied in the fields of instruments, image data processing, computing, etc.
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[0033] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0034] Due to the closedness of the indoor environment of the substation, the illumination of light and light is not sufficient in many cases. In addition, considering the influence between different devices, the indoor robot needs to identify or deal with low-light and shadowed sites during the inspection process. photo.
[0035] Such as figure 1 As shown in the figure, the common pressure plate switch for indoor equipment identification is shown. It can be seen that under low light, both the naked eye and the computer vision processing will encounter difficulties. Manual processing of such a situation will take more energy, while computer processing commonly used In order to do binary processing after it is grayscaled, such as figure 2 As shown, using OSTU to segment the image to obtain the result of binarization, it can be seen that due to the low...
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