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A sub-pixel positioning method for centerline laser center in 3D laser scanning system

A sub-pixel positioning and scanning system technology, applied in the field of sub-pixel positioning, can solve the problems of not being able to meet real-time performance, high algorithm complexity, slow detection speed, etc., and achieve the effects of removing burrs, strong suppression ability, and narrowing width

Active Publication Date: 2020-06-23
JIANGSU UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

The curve fitting algorithm has high extraction accuracy and can reach sub-pixel accuracy, but the amount of data processed in the calculation process is relatively large
[0006] Various algorithms have their advantages and disadvantages according to their different principles. The advantages of the extreme value method, the threshold method, and the gray center of gravity method are that the algorithm is simple, the speed is fast, and it can realize real-time scanning, but it is seriously affected by noise.
Curve fitting method and Hessian matrix method have high extraction accuracy, can reach the sub-pixel level, are less susceptible to noise interference and have good robustness, but the algorithm complexity is high, the detection speed is slow, and it cannot meet the real-time requirements

Method used

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  • A sub-pixel positioning method for centerline laser center in 3D laser scanning system
  • A sub-pixel positioning method for centerline laser center in 3D laser scanning system
  • A sub-pixel positioning method for centerline laser center in 3D laser scanning system

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Embodiment Construction

[0066] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0067] Such as figure 1 As shown, the present invention provides a sub-pixel positioning method for the line laser center in a three-dimensional laser scanning system, which combines the improved center of gravity method and Hough transform to realize the sub-pixel precise positioning of the line laser center, specifically including the following steps:

[0068] (1) Obtain the original image information of laser scanning from the camera, and preprocess the original image to eliminate the noise in the image;

[0069] Specifically include the following:

[0070] a) The purpose of image preprocessing is to reduce the influence of noise on the extracted line laser center and retain useful image information. In the image preprocessing process, because the color image contains more color information, the processing speed is relatively slow, so...

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Abstract

The invention discloses a sub-pixel positioning method for the midline laser center of a three-dimensional laser scanning system. Threshold segmentation is performed on the image, and the line laser is roughly extracted; the burr phenomenon of the line laser after rough extraction is eliminated, and the width of the line laser is further reduced; the sub-pixel level coordinates of the center of the line laser are obtained by using the improved center of gravity method, and then the Hough transform is used Corrects false object pixels in sub-pixel coordinates. This positioning method combines the improved center-of-gravity method and Hough transform, which can meet the needs of the 3D laser scanning system to obtain the sub-pixel coordinates of the line laser center in real time and accurately, and realize the sub-pixel precise positioning of the line laser center.

Description

technical field [0001] The invention relates to a method for sub-pixel positioning of a line laser center in a three-dimensional laser scanning system. Background technique [0002] With the continuous development of machine vision technology, 3D laser scanning technology has gradually become the core force in this field. With the advantages of real-time acquisition of 3D data information on the surface of the object to be measured, high scanning accuracy and non-contact characteristics, 3D laser scanning has become one of the hotspots of new technology research. [0003] The three-dimensional laser scanning system is generally composed of a line laser, a camera, a stepping motor, a rotating platform, etc. The line laser is used to emit a line laser light band, and the camera is used to capture the image containing the line laser on the surface of the measured object in real time. The motor and the rotating platform are used to obtain scanning information from multiple angl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T5/00G06T7/10G06T7/136
CPCG01B11/24G06T5/002G06T2207/20032
Inventor 马国军赵彬何康胡颖谢丽娟
Owner JIANGSU UNIV OF SCI & TECH
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