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A Fuzzy QR Code Restoration Method Based on Affine Transformation

An affine transformation and QR code technology, applied in the field of image processing, can solve the problems of long processing time of iterative algorithm, unable to guarantee 100% recognition of two-dimensional code, fuzzy restoration, etc., to reduce image restoration time, improve image restoration effect, The effect of improving robustness

Inactive Publication Date: 2018-10-30
CHINA JILIANG UNIV
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Problems solved by technology

[0009] In order to solve the motion blur restoration, some image restoration methods have appeared in recent years, but the automatic guided vehicle moves in a straight line at a uniform speed during the working process, that is, the direction and speed of the movement are known, as shown in Chinese patent number CN201510445795.1 The announced double-iterative hybrid blind restoration method has too long processing time for the iterative algorithm, and the restoration effect is not good. For the image restoration method of the leading vehicle, if the speed of the automatic guided vehicle is slightly faster, the two-dimensional code will not be recognized, resulting in ineffective positioning, affecting the scheduling of the automatic guided vehicle, and even derailment, resulting in unavoidable Loss

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  • A Fuzzy QR Code Restoration Method Based on Affine Transformation
  • A Fuzzy QR Code Restoration Method Based on Affine Transformation
  • A Fuzzy QR Code Restoration Method Based on Affine Transformation

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Embodiment Construction

[0049] The present invention and the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

[0050] The present invention comprises five steps, and concrete realization method is as follows:

[0051]Step (1), using the Hu invariant moment principle, calculate the ROI (region of interest) image of the area containing the QR code in the motion blurred image to be restored. The specific implementation method is as follows:

[0052] Step (1.1) utilizes the Gaussian image pyramid to down-sample the motion blurred image three times, and the result of down-sampling is as follows: figure 1 As shown, the Gaussian pyramid downsampling formula (1) is:

[0053]

[0054] Where x, y are the image space coordinates, the upper left corner of the image is the origin (0, 0), G n+1 (x,y) is the n+1th downsampling image, G n (x, y) is the nth level downsampling image, W(a,b)=W(a)*W(b) is...

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Abstract

The invention discloses a fuzzy QR code motion blurred image restoration method combining a traditional image restoration method with a QR code characteristic calibration method, namely an image with better quality is obtained by using a traditional image restoration method, and a standard QR code is obtained by using the characteristic of the QR code, an accurate QR code positioning image is provided for an automatic guiding vehicle quickly and efficiently, and the attitude information of the automatic guiding vehicle in the operational process is obtained. According to the method, an ROI image is obtained by using multi-resolution processing, and the image restoration time can be greatly reduced. The similarity of the calibrated QR code is extremely high compared with the standard QR code, so that identification can be guaranteed.

Description

technical field [0001] The invention belongs to the field of image processing, and in particular relates to a QR code-based AGV positioning module motion blur restoration method. Background technique [0002] With the development of industrial automation technology, automatic guided vehicles (AGV) are widely used. Automatic guided vehicles can automatically run according to the route of instructions without human intervention, so it can effectively improve industrial automation and improve transportation efficiency. [0003] The existing automatic guided vehicle navigation methods are mainly magnetic strip guidance, laser guidance and other methods, but these methods have their own limitations. In recent years, with the development of science and technology, some new positioning and navigation technologies have emerged. The automatic guided vehicle navigation method based on two-dimensional code positioning, this visual guidance method can effectively improve the flexibility...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K7/14G05D1/02
CPCG05D1/0234G06K7/1417G06K7/146
Inventor 唐颖奇罗哉王艳胡晓峰李冬
Owner CHINA JILIANG UNIV
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