The invention discloses an intelligent positioning method for small
ceramic files based on multi-
feature fusion. The intelligent positioning method comprises the steps of S1,
image acquisition; S2, image preprocessing; S3,
feature extraction, S4, image target determination; and S5,
ceramic file positioning. In the step of
image acquisition, an image is acquired through a high-speed
linear array CCD camera. In the step of image preprocessing, gray
processing is firstly performed on the image, then filtering and denoising
processing is carried out, the filtered image is segmented by adopting an
edge detection algorithm, the profile of the small
ceramic tile is extracted, and then a
profile diagram of the ceramic tile is acquired. In the step of
feature extraction, corresponding primitive features are generated based on geometric features of the ceramic tile profile in the
profile diagram in the step S2; and a logical AND operation is performed by using a filtered image and the profile
mask diagram in the step S2, transferring an operation result diagram into an HSV
color space, and color features are generated; and combination features are generated according to the primitive features and the color features. The intelligent positioning method realizes high-precision positioning for the small
ceramic tiles at a
large FOV (
Field of View), thereby providing accurate positioning data for
visual inspection and
robot grasping. In addition, multiple segmentation units can operate concurrently in a multi-threaded
system, and the real-time performance of the
system is improved.