Discrete laser stripe center point tracking method based on direction search

Abstract

The invention relates to a laser center point tracking method, in particular to a discrete laser stripe center point tracking method based on direction search, which comprises the following steps of: S10, selecting a starting point, firstly searching images line by line from top to bottom and from left to right, and taking a laser point found firstly as the starting point of a laser stripe; S20, calculating the search area according to the laser stripe direction, wherein the search area of the next point is determined according to the direction of the laser stripe to which the current point belongs in the image; s30, searching by adopting a searching strategy of two rows of local areas; and S40, updating the starting point until the search is finished. According to the method, the directivity of the laser stripes is introduced into the search process, the search robustness is enhanced, the search integrity is improved, and the method is suitable for tracking the center points of the laser stripes in various forms and is not limited to single-line laser stripes and multi-line laser stripes; the method is suitable for tracking and searching the center points of the long-strip-shaped laser stripes emitted by various light-emitting devices.

Description

technical field [0001] The invention relates to a laser center point tracking method, in particular to a direction search-based discrete laser stripe center point tracking method. Background technique [0002] With the rapid development of my country's industry, laser profilers are more and more widely used in industrial automation and intelligent manufacturing, which is of great significance for the contour measurement of machined parts and the quality inspection of curved surface modeling parts. The basic principle of the laser profiler is to project a light plane generated by the laser onto the surface of the measured object, modulated by the height of the object surface, and present a deformed laser stripe image on the two-dimensional image plane, according to the coordinates of the center point of the laser stripe image, As well as the triangular relationship between the laser plane and the camera sensor plane, the three-dimensional information of the laser stripes mapp...

AI Technical Summary

Problems solved by technology

[0006] All will make the position of the next laser center point no longer within the range of 4 or 8 fields of the previous point, resulting in premature termination of the search and failure to fully track the center points of all laser stripes

[0007] like Figure 7 The example in describes the above situation: the laser center point i and i+1 belong to the same laser stripe, but due to factors such as noise interference, a point is missing between i and i+1, and i+1 is not in the 8 of i domains, so that the normal 4-domain or 8-domain search stops at point i

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