Container contour positioning method based on edge detection

A technology of edge detection and positioning method, applied in image data processing, instrumentation, calculation and other directions, can solve problems such as bad, error keyhole effect, error and so on

Active Publication Date: 2016-11-09
ZHEJIANG UNIV OF TECH
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  • Claims
  • Application Information

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Problems solved by technology

[0004] To sum up, the current method has the following deficiencies: (1) There is a certain error in replacing the outer corner of the container with the coordinates of the center of the lifting

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  • Container contour positioning method based on edge detection
  • Container contour positioning method based on edge detection
  • Container contour positioning method based on edge detection

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Embodiment Construction

[0054] The specific implementation of the container contour positioning method based on edge detection of the present invention will be described in detail below with reference to the embodiments.

[0055] Step 1: First, use the camera installed on the spreader to capture an image of one side of the container below; in this embodiment, as attached figure 1 ;

[0056] Step 2: Then use the container keyhole coarse positioning and tracking method to obtain the coarse positioning area of ​​the upper and lower keyholes. The height of the coarse positioning area image is height, the width is width, and the unit is pixel; in this embodiment, the upper keyhole is thick Location image as attached Figure 2a , The rough positioning image of the lower keyhole is attached Figure 2b , Height=120, width=120, the method for coarse positioning and tracking of the container keyhole has been disclosed in the document with the application number 201610273182.9, and will not be described in detail he...

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Abstract

The invention discloses a container contour positioning method based on edge detection. The container contour positioning method adopts a camera to collect images on two opposite side of the container and obtains a rough positioning range for an upper lock hole and a lower lock hole; lock hole rough positioning images are converted to gray scale images to perform pre-processing to obtain images of I1,I2; edge detection is performed on the image I1 and the image I2 to obtain edge images I1', I'2 of the upper lock hole and the lower lock hole which are roughly positioned; a Hough straight line detection algorithm is adopted to perform detection to obtain a line segment set; a DBCAN clustering algorithm is adopted to maintain line segments close to horizontal and vertical to obtain a horizontal line segment set LH and a vertical line segment set LV; four intersection points p1, p2, p3, and p4 are obtained and the four intersection points constitutes a quadrangle which is the couture of the container. As a result, the positioning of the container couture is realized. The container contour positioning method based on the edge detection can effectively solve a problem of an interference edge of the lock hole image during the edge detection and can overcome a defect that the Hough straight line effect is not good.

Description

Technical field [0001] The invention belongs to the field of computer vision technology and image processing technology, and specifically relates to a container contour positioning method based on edge detection. Background technique [0002] With the development of container transportation, container ships have become larger and larger, the proportion of containerization of goods has continued to increase, and the volume of container transportation has continued to rise. From the analysis of voyage economic accounting, shortening the berthing time of container ships can reduce berthing costs, improve the navigation efficiency of container ships, give full play to the advantages of ship unit transportation costs, and improve economic benefits. The traditional manual control of grabbing containers has greatly affected the production efficiency and loading and unloading speed. A bridge crane loads a container from a freighter to a trailer. The process requires high operation preci...

Claims

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Application Information

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IPC IPC(8): G06T7/00
CPCG06T2207/10024
Inventor 高飞李定谢尔童伟圆汪敏倩葛一粟卢书芳肖刚
Owner ZHEJIANG UNIV OF TECH
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