Image processing method and system, automatic walking equipment and readable storage medium

Abstract

The invention discloses an image processing method and system, automatic walking equipment and a readable storage medium, and the method comprises the following steps: carrying out the preprocessing of an original image, so as to recognize whether each pixel point is a bright region pixel point or a dark region pixel point, and extracting an initial H channel characteristic value, an initial S channel characteristic value and an initial V channel characteristic value of each pixel point; calculating the average pixel brightness intensity ValueB of the bright area and the average pixel brightness intensity ValueS of the dark area; obtaining a brightness compensation value OffsetValue according to the average pixel brightness intensity of the bright area and the average pixel brightness intensity of the dark area; performing compensation processing on the initial V channel characteristic value according to the brightness compensation value to obtain a compensated V channel characteristic value; and performing synthesis processing and conversion processing according to the initial H channel feature value, the initial S channel feature value and the compensated V channel feature value to obtain an image without a shadow boundary. The V channel characteristic value is adjusted through the brightness compensation value so as to eliminate the shadow boundary of the image, and boundary system misjudgment caused by the shadow boundary of the image is avoided.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to an image processing method, system, automatic walking equipment and readable storage medium capable of eliminating shadow boundaries of images. Background technique [0002] Autonomous walking equipment (such as lawn mowers, vacuum cleaners) recognizes boundaries through images, but due to light conditions, trees and houses will form different degrees of shadow boundaries on the grass. The shadow dividing line belongs to the interference information of image recognition. Misjudging the shaded dividing line as a boundary makes it impossible to enter or get out of the shaded area to complete the work. [0003] To a certain extent, shadow removal can be achieved by image enhancement, such as homogeneous filtering, histogram equalization, image enhancement based on Laplacian operator, image enhancement based on logarithmic transformation, and image enhancement based on gamma...

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Problems solved by technology

[0004] However, in the Chinese patent application CN201310689070.8, the threshold used for luminance area division is the luminance reference value obtained through the luminance reference curve L(t), and the calculation amount of the algorithm of the luminance reference curve L(t) is large, which affects the image processing speed

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