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Fitting method of centerline of laser stripes based on fpga

A technology of laser stripes and laser lines, applied in the field of computer vision, can solve problems such as unsatisfactory processing effects and inability to realize real-time image processing, and achieve good real-time performance and high accuracy

Active Publication Date: 2022-05-24
BEIJING ZHIXINGZHE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the embodiment of the present invention is to provide an FPGA-based laser stripe centerline fitting method to solve the problem in the prior art that real-time image processing cannot be realized or the processing effect is not ideal

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  • Fitting method of centerline of laser stripes based on fpga
  • Fitting method of centerline of laser stripes based on fpga
  • Fitting method of centerline of laser stripes based on fpga

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Embodiment Construction

[0058] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the related invention, rather than limit the invention. In addition, it should be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0059] It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0060] figure 1 This is a schematic flowchart of the FPGA-based laser stripe centerline fitting method provided in Embodiment 1 of the present invention. The execution subject of the method is a terminal, a server and other equipment wit...

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Abstract

The invention provides a laser stripe center line fitting method based on FPGA, comprising: collecting a laser line image taken by a camera through the FPGA; obtaining the abscissa of the first number of pixels in the laser line image in the camera coordinate system, and generating The first matrix, and obtain the brightness of the first number of pixels to generate the second matrix; the first number is a positive number not less than 2; according to the first matrix, calculate the third matrix; according to the third matrix, calculate the third matrix The adjoint matrix; according to the first column of the third matrix and the first row of the adjoint matrix of the third matrix, calculate the flag bit; when the flag bit is not 0, according to the adjoint matrix of the second matrix, the third matrix and the third matrix , calculate the fourth matrix; calculate the first coordinate of the center point of the laser line in the current row according to the fourth matrix; calculate the center line of the laser stripe according to the first coordinates of the center point of the laser line in all rows. Therefore, the calculation has good real-time performance and high accuracy.

Description

technical field [0001] The invention relates to the field of computer vision, in particular to a laser stripe centerline fitting method based on a Field-Programmable Gate Array (FPGA). Background technique [0002] The laser line scans the workpiece and finds the three-dimensional contour of the workpiece, which is currently a hot topic in the field of computer vision. The laser line scans the workpiece on the conveyor belt, and the camera captures the laser image. The laser line will have the characteristics of high brightness in the middle and gradually darkening to both sides, such as figure 1 As shown, in order to calculate the 3D point cloud, the centerline of the laser fringe needs to be found. [0003] At present, Labview, Matlab, and opencv call library function methods to skeletal images for laser stripe centerline extraction. [0004] Labview, Matlab cannot realize real-time image processing. Opencv has a large calculation time, which is not conducive to high f...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00G06F17/16
CPCG06T7/0002G06F17/16G06T2207/10004
Inventor 程杨黄踔刘渊霍舒豪张德兆王肖李晓飞张放
Owner BEIJING ZHIXINGZHE TECH CO LTD