Workpiece edge extraction method based on improved Canny operator

A technology of workpiece edge and extraction method, applied in computing, image data processing, instruments, etc., can solve the problems of commonality of threshold segmentation and filtering effect, and achieve the effect of overcoming difficulty in taking into account, ensuring continuity, and eliminating the influence of false information.

Inactive Publication Date: 2018-05-11
SHENYANG GOLDING NC & INTELLIGENCE TECH CO LTD
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Problems solved by technology

However, the Canny operator still has some shortcomings. Since the classic Canny operator uses a Gaussian filter to smooth the image, the selection of its smoothing parameter σ has a decisive impact on the filtering e

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  • Workpiece edge extraction method based on improved Canny operator
  • Workpiece edge extraction method based on improved Canny operator
  • Workpiece edge extraction method based on improved Canny operator

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Embodiment Construction

[0051] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0052] The overall process of the present invention is as figure 1 As shown, the workpiece edge feature extraction method based on the improved Canny operator mainly includes the following steps:

[0053] 1: Perform convolution processing on the original image to obtain the convolution image;

[0054] 2: Weighting the convolution image: By comparing the gray value of the point with the threshold, it is judged that the point belongs to the edge area or a gentle area; the edge area is processed based on the similarity weight of the gray value, and the smooth area is Use spatial distance weights for processing to obtain convolutional images;

[0055] 3: Calculate the gradient direction and magnitude of the weighted grayscale image;

[0056] 4: For the weighted grayscale image, perform non-maximum suppression on the gradient amplitude along the g...

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Abstract

The invention relates to a workpiece edge extraction method based on an improved Canny operator, which comprises the steps of performing convolution processing on an original image from the zero point; weighting the convolution result to obtain a weighted grayscale map; calculating the gradient direction and amplitude of the weighted grayscale map; performing non-maximum suppression on the gradient; determining image edges by applying high and low thresholds; and extracting and connecting the image edges. According to the method, the improved Canny operator makes up a problem that it is difficult for the classical Canny operator to give consideration to both image edges and noise in a filtering stage due to selection of Gauss filtering parameters and a problem of the adaptivity of double threshold setting. Experimental results show that the improved Canny operator better balance the relation between the noise and the edge information and has a better extraction effect for workpiece edge features.

Description

technical field [0001] The invention relates to the field of visual positioning of industrial robots, in particular to a workpiece edge extraction method based on an improved Canny operator. Background technique [0002] The edge of the image refers to the place where the gray value has a sudden change in the image, and it is the dividing line between the workpiece to be tested and the background pattern. Edge acquisition is an important link in the robot vision system. The edge of the image contains a large amount of information of the workpiece to be tested, and is one of the most basic features of the image. The effect of edge extraction is directly related to the fitting, classification and recognition processes in subsequent image processing. In engineering applications, the edge of the image is also often used as the recognition basis for people to detect workpiece defects, define the size of the workpiece, and locate the workpiece. Therefore, it is very important f...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06T7/13G06T7/136
CPCG06T7/0004G06T2207/30108
Inventor 林浒孙一兰王诗宇李伦兴窦冬洋蒋宁
Owner SHENYANG GOLDING NC & INTELLIGENCE TECH CO LTD
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