An Adaptive Threshold Segmentation Method in Dynamic Environment
An adaptive threshold and dynamic environment technology, applied in image analysis, image enhancement, instruments, etc., can solve problems such as good segmentation effect, chaotic segmentation, large background difference, etc., and achieve the effect of wide application range and elimination of noise influence
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[0048] Embodiment 1: as figure 2 As shown in the algorithm flow chart, it includes the following specific processes:
[0049] Step 1: First collect the first frame of RGB image from the camera as a priori image.
[0050] Step 2: Convert the extracted RGB image to HSV and YCbCr image, the conversion process is as follows:
[0051]RGB is converted to YCbCr, the conversion formula is:
[0052]
[0053] Step 3: Find the center point. In order to ignore the influence of light intensity, the cb and cr channels are used for segmentation during the whole process. The whole process is as follows: In the first frame of the image, the approximate range of the initial obstacles is clustered or manually Select the obstacle part (select the rectangular part containing the obstacle), if the width of the selected rectangle is w, the height is h, the center point is p(y,u,v), y is the y channel, u is the cb channel, and v is cr channel, src i,j (y,u,v) are pixels converted to ycbcr col...
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