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Fast adaptive corner combined center detecting method based on geometric features

A technology of geometric features and detection methods, applied in image data processing, instruments, calculations, etc., can solve the problems of unable to eliminate noise points, edge discontinuities, and limited effects, so as to improve detection accuracy and anti-noise ability, meet real-time performance, The effect of good precision

Active Publication Date: 2018-11-16
HARBIN INST OF TECH
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Problems solved by technology

The disadvantage of this method is that although the coordinates of the circular marker points with higher accuracy can be obtained by refining the edge, the isolated noise points cannot be eliminated, and the image gradient information obtained in practice is often affected by noise. Changes, which affect the accuracy of the positioning of the center of the marker point
The disadvantage of this method is: using the Canny operator to extract edge information, the obtained edge can only be at the pixel level, while the effect of the ellipse fitting method is limited, and it is prone to edge discontinuity in practice
The disadvantages of this method are: experiments have been carried out on ideal images and noise images and the good accuracy and real-time performance of the method have been verified. However, there are a large number of iterative solutions to nonlinear equations in this method, and a large number of iterative processes seriously affect time efficiency of the algorithm

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  • Fast adaptive corner combined center detecting method based on geometric features
  • Fast adaptive corner combined center detecting method based on geometric features
  • Fast adaptive corner combined center detecting method based on geometric features

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Embodiment 1

[0051] In this embodiment, the marker image used by a fast adaptive corner point combination detection method based on geometric features is as follows: figure 1 As shown in , the landmark is composed of an equilateral triangle with a small gray value and a black circle inscribed in it.

[0052] First, select the part of the image that is of interest, that is, the part of the image that contains the marker, also known as RIO (region of interest), and then perform two binarizations with different thresholds on the part of interest to obtain an equivalent side triangle and a circle.

[0053] A fast corner detection method is used to detect the corners of the equilateral triangles in the thresholded equilateral triangle image, and the center and radius of the circle are roughly positioned according to the corners and geometric relations of the triangles. The Canny operator is used to detect the edge of the binarized circular image, and then combined with the center coordinates a...

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Abstract

The invention provides a fast adaptive corner combined center detecting method based on geometric features, and belongs to the technical field of image processing algorithms. The invention treats themarker by using the threshold binaryzation with different thresholds twice; then performs corner detection on the marker image by using the improved SUSAN algorithm to coarsely locate the center and the radius; performs Canny operator on the circular image after binarization to detect the edge, and radius-constrains the edge to obtain a refined and continuous edge; finally, processes the edge detected at this time, and obtains center coordinates of good precision by combining a mode of multi-processing and weighted averaging. The invention avoids the gradient calculation, reduces the interference caused by the noise, improves the rate of the algorithm, has good precision and running speed, is simple and easy to implement, and meets the real-time performance.

Description

technical field [0001] The invention relates to a method for detecting the center of a circle based on a geometric feature-based fast self-adaptive corner point combination, and belongs to the technical field of image processing algorithms. Background technique [0002] Generally, the accuracy of the center coordinates of a circular marker point is determined by the accuracy of the circle's edge detection. The paper "Circular target sub-pixel center positioning based on non-maximum suppression" (Journal of Instrumentation, Wang Jing, 201207) uses the gradient information in the image combined with the method of non-maximum suppression to obtain the ideal edge of continuous refinement, Realized the positioning of the pixel-level edge; combined with the 5×5 Zernike moment to perform sub-pixel-level positioning on the edge, and finally used the least squares method to fit twice to obtain the center coordinates of the circular marker points, and compared the simulation images an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/66G06T7/13G06T7/12
CPCG06T7/12G06T7/13G06T7/66
Inventor 夏红伟丁致远马广程温奇咏王常虹
Owner HARBIN INST OF TECH
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