Table tennis ball recognition method based on Hough circle transformation technology

A transformation technology and recognition method technology, applied in character and pattern recognition, image data processing, instruments, etc., can solve the problems of difficulty in real-time circle detection, large amount of calculation, large memory usage, etc.

Active Publication Date: 2020-03-06
BEIJING UNIV OF TECH
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Problems solved by technology

[0008] This method has high reliability and is less affected by noise, deformation, and curve discontinuity, but it also h

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  • Table tennis ball recognition method based on Hough circle transformation technology
  • Table tennis ball recognition method based on Hough circle transformation technology
  • Table tennis ball recognition method based on Hough circle transformation technology

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Embodiment Construction

[0050] The table tennis recognition method based on Hough transform technology, the flow chart of the specific implementation method is as follows figure 1 shown. Include the following steps:

[0051] Step 1. Image grayscale processing

[0052]In the example of the present invention, the resolution of the vision sensor is 640*480 pixels. Through the vision sensor, the processor of the robot can continuously obtain the image in front of the vision sensor, and then preprocess the read-in picture. First, the image is grayscaled, and the present invention adopts the grayscale method of the average value. Let the three components of the color image be R(x,y), G(x,y), and B(x,y), then after grayscale processing, the grayscale value Gray(x,y) of the image can be expressed as:

[0053]

[0054] The principle is to average the three-component brightness in the color image to obtain the gray value, that is, in the RGB model, calculate the average value of the three colors of R, G...

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Abstract

The invention discloses a table tennis ball recognition method based on a Hough circle transformation technology, for improving the recognition speed through a gradient Hough transformation method. The table tennis ball recognition method comprises the following steps: 1) image graying processing; 2) filtering processing; 3) edge extraction; 4) table tennis ball marking; and 5) special processingand related parameter setting for table tennis ball recognition. Compared with the prior art, the table tennis ball recognition method has the advantages that for the pictures read in the camera, thetable tennis balls contained in each frame of picture can be recognized in real time, and the table tennis balls can be accurately recognized under complex conditions.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a table tennis recognition method through Hough circle transformation technology. Background technique [0002] In order to cooperate with the table tennis picking robot and realize the automatic recognition of table tennis balls by the table tennis picking robot, it is particularly important to design a method that can recognize and track table tennis balls in continuous images. At present, most of the algorithms for identifying ping-pong balls stay on a given picture, from which ping-pong balls can be marked. This method is easily disturbed by debris in the table tennis court with a complex background, and cannot guarantee the accuracy of table tennis recognition in the case of slight tearing and noise in the picture. [0003] In view of the above problems, the present invention proposes a table tennis recognition method based on Hough circle transform technology, w...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06K9/46
CPCG06T7/0004G06T2207/20061G06V10/44
Inventor 范青武杨凯马帅王迪
Owner BEIJING UNIV OF TECH
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