A monocular vision double-layer quadrilateral structure cooperative target extraction method under insufficient illumination

Abstract

The invention discloses a monocular vision double-layer quadrilateral structure cooperative target extraction method under insufficient illumination, and the method comprises the steps of employing a monocular camera to collect an image, employing a brightness channel value of the image as a graying basis, carrying out the binarization preprocessing of the image through employing a self-adaptive local threshold binarization method, correctly extracting a mark contour, and performing burr elimination on the extracted contour by using a Douglas-Peucker algorithm so as to accurately extract the contour edge and angular point of the quadrilateral cooperative target. The invention can be applied to insufficient illumination conditions such as insufficient illumination and uneven illumination, and correct contours can be efficiently and accurately screened out. The invention is good in robustness and has real-time performance, and intelligent extraction of the cooperative target under the condition of insufficient illumination can be realized.

Description

technical field [0001] The invention belongs to the field of monocular vision cooperative target algorithm. Background technique [0002] The monocular vision system has become a hot topic in the research field due to its simple structure, rich information acquisition, and small space occupation. For example, use the ground cooperation mark to obtain relative pose information to assist the aircraft to complete the near-ground landing guidance, combine the target to realize the precise delivery of heavy objects during the airdrop operation of the aircraft, or combine the surface texture of the container to obtain the pose information during the container handling process. Automatic grabbing operations, etc. The accuracy of cooperative target extraction will affect the efficiency of the operation, and insufficient lighting conditions are the primary factor that increases the difficulty of extraction. For example, when used in environments such as insufficient lighting, uneven...

AI Technical Summary

Problems solved by technology

The accuracy of cooperative target extraction will affect the efficiency of the operation, and insufficient lighting conditions are the primary factor that increases the difficulty of extraction. For example, when used in environments such as insufficient lighting, uneven lightin

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