Ping-pong Ball Recognition Method Based on Hough Circle Transform Technology

A transformation technology and recognition method technology, applied in character and pattern recognition, image analysis, image enhancement and other directions, can solve the problems of difficulty in real-time circle detection, large memory usage, and large amount of calculation.

Active Publication Date: 2022-02-08
BEIJING UNIV OF TECH
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0008] This method has high reliability and is less affected by noise, deformation, and curve discontinuity, but it also has obvious defects: large memory usage and large calculation, so it is difficult to meet the real-time detection of circles

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  • Ping-pong Ball Recognition Method Based on Hough Circle Transform Technology
  • Ping-pong Ball Recognition Method Based on Hough Circle Transform Technology
  • Ping-pong Ball Recognition Method Based on Hough Circle Transform 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 the Hough circle transform technology, which uses the gradient Hough transform method to improve the recognition speed. The method includes the following steps: 1) image grayscale processing; 2) filtering processing; 3) edge extraction; 4) table tennis marking; 5) special processing for table tennis recognition and setting of related parameters. Compared with the prior art, the present invention can realize real-time identification of the table tennis balls contained in each frame of pictures for the pictures read in by the camera, and can accurately identify the table tennis balls in complex situations.

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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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00G06V10/44
CPCG06T7/0004G06T2207/20061G06V10/44
Inventor 范青武杨凯马帅王迪
Owner BEIJING UNIV OF TECH
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