Method for positioning rectangular electric device under shadow illumination

A positioning method and rectangular technology, which can be used in instruments, image data processing, computing, etc., and can solve problems such as unsatisfactory effects of rectangular devices.

Active Publication Date: 2019-11-05
SHANGHAI HRSTEK +1
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AI Technical Summary

Problems solved by technology

[0004] Aiming at the unsatisfactory effect of directly identifying rectangular devices with illumination shadows based on image registration methods, the present invention aims to provide a rectangular device with shadow illumination. High-precision positioning method for electrical devices, providing accurate positioning information for subsequent identification of target devices

Method used

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  • Method for positioning rectangular electric device under shadow illumination
  • Method for positioning rectangular electric device under shadow illumination
  • Method for positioning rectangular electric device under shadow illumination

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Embodiment Construction

[0091] The present invention is described in more detail below in conjunction with accompanying drawing:

[0092] Such as figure 1 As shown, a positioning algorithm for rectangular electrical devices under shadow illumination includes the following steps:

[0093] 1. The color image of the specified rectangular device is obtained by the inspection robot, such as figure 2 shown.

[0094] 2. R channel image binarization threshold segmentation processing for color images.

[0095] 2.1 Get the R channel image, such as image 3 shown.

[0096] 2.2 After converting the R channel image into a grayscale image, use the maximum variance between classes for threshold segmentation processing, such as Figure 4 Shown:

[0097] Use f(x,y) to represent the grayscale value of the grayscale image IM×N at the (x,y) position, the image in this paper is a grayscale image, and its grayscale L=256, then f(x,y) ∈[0,L-1]. If the number of pixels at the same gray level i is counted as fi, t...

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Abstract

The invention relates to a method for positioning a rectangular electric device under shadow illumination. The method mainly solves the technical problem that a registration method based on image point features is not ideal in effect in the presence of shadows in the automatic positioning and recognition process of various instruments. The method comprises the following steps: firstly, acquiring acolor image only containing a specified rectangular device by an inspection robot, and respectively carrying out threshold segmentation and morphological operation on an R channel image of the colorimage to obtain a denoised binary image; extracting a contour line of a region with the maximum area from the binary image, judging whether the region is a target device or not by setting an area threshold value, and solving a minimum enclosing rectangle by utilizing the contour line of the region where the target rectangular device is located; and finally, eliminating shadow influence by means ofa pixel vertical and horizontal projection method, so that the accurate position of the rectangular electric device in the image is obtained. High-precision positioning of the rectangular electric device under shadow illumination can be realized.

Description

technical field [0001] The invention relates to a method for locating a target object in an image, in particular to a high-precision locating method for a rectangular electrical device under shadow illumination. Background technique [0002] In distribution stations, it has gradually become a demand and trend to replace manual inspections with inspection robots. To identify the status and indications of various electrical appliances on the power distribution cabinet, the inspection robot must first solve the positioning problem of various electrical devices. [0003] At present, we mainly use the registration method based on image point features for positioning recognition. Such as the International Journal of Computer Vision "Featured Image of Scale-Invariant Keypoints" (Lowe D G. Distinctive image features from scale-invariant keypoints[J]. International journal of computer vision, 2004,60(2): 91-110.), Journal of Computer Vision "Effective Alternatives to SIFT or SURF" ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/70G06T7/136G06T7/13G06T5/30G06T5/00
CPCG06T7/70G06T7/136G06T5/002G06T7/13G06T5/30G06T2207/10024G06T2207/30164
Inventor 卢秋红童卫青
Owner SHANGHAI HRSTEK
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