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Path extraction and identification method of visual guidance system under complex illumination condition

A technology of visual guidance and lighting conditions, applied in character and pattern recognition, computer components, image data processing, etc., can solve problems such as the inability to guarantee the accuracy and reliability of visual guidance

Active Publication Date: 2018-01-23
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0006] Aiming at the deficiencies of the above-mentioned prior art, the purpose of the present invention is to provide a path extraction and recognition method for a visual guidance system under complex lighting conditions, so as to solve the problem of measuring the guidance path parameters in the prior art. The accuracy of guidance under high lighting conditions is high, but the accuracy and reliability of vision guidance under complex lighting conditions cannot be guaranteed

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  • Path extraction and identification method of visual guidance system under complex illumination condition
  • Path extraction and identification method of visual guidance system under complex illumination condition
  • Path extraction and identification method of visual guidance system under complex illumination condition

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[0113] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the embodiments and accompanying drawings, and the contents mentioned in the embodiments are not intended to limit the present invention.

[0114] refer to figure 1 As shown, the path extraction and recognition method in the present invention mainly includes two stages, path feature extraction and guidance parameter measurement. The path feature extraction includes path image illumination region classification, image sub-region preprocessing, image segmentation and other steps; the measurement of guidance parameters includes path midpoint contour information extraction, path optimal parameter model identification and deviation calculation. The path image illumination area classification includes offline machine learning and online real-time classification and recognition.

[0115] The path extraction and recognition method of t...

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Abstract

The invention discloses a path extraction and identification method of a visual guidance system under a complex illumination condition. The method is characterized by, to begin with, analyzing relation between illumination illuminance and image luminance components, and establishing an illumination color model for representing image color distribution rules; then, designing an image illumination classifier for distinguishing a high-light region, a normal-illumination region and a dark shadow region in a complex illumination path image; carrying out image enhancement on the low-illumination region in an RGB color space to restore the path color information, and carrying out differentiate operation on chrominance components Cb and Cr in the high-light region to suppress common-mode illumination interference, and then, carrying out adaptive threshold segmentation; and finally, identifying an optimal parameter model of a guidance path through a particle swarm optimization method. The method can obviously improve accuracy, reliability and intelligence of guidance path extraction and identification of the visual guidance system under the complex illumination condition.

Description

technical field [0001] The invention belongs to the technical field of computer vision detection and mobile robot vision navigation, and specifically refers to a path extraction and recognition method of a vision guidance system under complex lighting conditions. Background technique [0002] Automated guided vehicle (AGV) is a mobile robot that can automatically drive along a specified path and carry out material handling between different stations. It has been widely used in the production of automobiles, electronics, warehousing and food industries. Logistics delivery. Compared with other guidance methods, vision guidance technology has the advantages of large path layout flexibility, high measurement accuracy, and low setup cost. However, the recognition performance of the machine vision system is easily affected by changes in the lighting conditions of complex environments. Realizing the stable and reliable operation of the machine vision system under complex and chang...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/136G06T7/194G06K9/62G06N3/00
Inventor 武星楼佩煌张颖王龙军钱晓明李林慧陈华
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS