肖像绘制机器人技术研究
发布时间：2018-12-13 17:12
【摘要】：人脸肖像绘制机器人是一种可以自动绘制人脸肖像轮廓图的智能机械系统,它由图像采集模块、图像处理模块、机械控制绘图模块组成,能够自动拍摄人脸照片,提取肖像轮廓,并控制机械臂在画板上画出人脸线条画。人脸肖像绘制机器人是机器视觉的研究方向之一,可广泛用于科普展览,其中提出的基于机器视觉的研究技术在生产和生活等各个方面都有着广泛的应用。本文主要的研究内容和成果有: 研究了图像采集系统的硬件和软件算法,通过对CCD摄像机、光学镜头、图像采集卡的选型和拍摄算法的设计,完成自动采集和保存人脸肖像照片的功能。在对基于肤色的图像分割技术研究的基础上,对比目前常用的色彩空间的原理和特点,采用YCbCr色彩空间进行图像分解,并提出了与迭代阈值法相结合的图像分割方法进行肤色分割,研究了图像轮廓提取的一般方法,并使用内部掏空法提取出人脸轮廓。 研究了人脸五官特征提取的一般方法,提出一种基于搜索的投影法对眼睛和眉毛进行坐标定位,研究去除噪声提取眼睛和眉毛的搜索算法,优化处理人脸轮廓图,对改善人脸肖像图的整体效果达到较好效果。 提出一种基于无干扰八领域搜索的矢量化算法,将人脸轮廓像素点转化为一系列相连的点,再检测每组相连的点中位于一条直线上的点,保存线段首位点坐标到数组中,为与机械臂控制器通信做好准备。 研究绘图机械控制系统的硬件选型和控制算法,解决了外部坐标值与控制器内部变量通信的技术难点,在Visual C++ 6.0中实现了外部对机械臂绘图动作的自动控制,设计机械臂绘画动作流程,完成人脸轮廓图的自动绘制。
[Abstract]:The face portrait drawing robot is an intelligent mechanical system which can automatically draw the profile of the face portrait. It is composed of image acquisition module, image processing module and mechanical control drawing module, which can automatically take face photos. Extract the profile of the portrait and control the robotic arm to draw the face line on the drawing board. Face portrait rendering robot is one of the research directions of machine vision, which can be widely used in popular science exhibition. The research technology based on machine vision has been widely used in production and daily life. The main contents and achievements of this paper are as follows: the hardware and software algorithms of the image acquisition system are studied, and the selection of the CCD camera, optical lens, image acquisition card and the design of the shooting algorithm are discussed. The function of automatic collection and preservation of face portrait photos is completed. Based on the research of image segmentation technology based on skin color, this paper compares the principle and characteristics of current color space, and uses YCbCr color space to decompose the image. An image segmentation method combined with iterative threshold method is proposed, and the general method of image contour extraction is studied, and the face contour is extracted by internal tunneling method. In this paper, the general method of facial feature extraction is studied, and a search-based projection method is proposed to locate the coordinates of the eyes and eyebrows. The search algorithm for removing noise from the eyes and eyebrows is studied, and the face contour image is optimized. It can improve the overall effect of face portrait. In this paper, a vectorization algorithm based on non-interference eight domain search is proposed, which transforms the face contour pixels into a series of connected points, then detects the points on a straight line in each group of connected points, and saves the coordinates of the first point of the line segment into the array. Prepare for communication with manipulator controller. This paper studies the hardware selection and control algorithm of drawing mechanical control system, solves the technical difficulty of communication between external coordinate value and internal variable of controller, and realizes the automatic control of drawing action of mechanical arm in Visual C 6.0. The drawing process of the robot arm is designed, and the automatic drawing of the face contour is completed.
【学位授予单位】：中国科学技术大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TP242
本文编号：2376900
[Abstract]:The face portrait drawing robot is an intelligent mechanical system which can automatically draw the profile of the face portrait. It is composed of image acquisition module, image processing module and mechanical control drawing module, which can automatically take face photos. Extract the profile of the portrait and control the robotic arm to draw the face line on the drawing board. Face portrait rendering robot is one of the research directions of machine vision, which can be widely used in popular science exhibition. The research technology based on machine vision has been widely used in production and daily life. The main contents and achievements of this paper are as follows: the hardware and software algorithms of the image acquisition system are studied, and the selection of the CCD camera, optical lens, image acquisition card and the design of the shooting algorithm are discussed. The function of automatic collection and preservation of face portrait photos is completed. Based on the research of image segmentation technology based on skin color, this paper compares the principle and characteristics of current color space, and uses YCbCr color space to decompose the image. An image segmentation method combined with iterative threshold method is proposed, and the general method of image contour extraction is studied, and the face contour is extracted by internal tunneling method. In this paper, the general method of facial feature extraction is studied, and a search-based projection method is proposed to locate the coordinates of the eyes and eyebrows. The search algorithm for removing noise from the eyes and eyebrows is studied, and the face contour image is optimized. It can improve the overall effect of face portrait. In this paper, a vectorization algorithm based on non-interference eight domain search is proposed, which transforms the face contour pixels into a series of connected points, then detects the points on a straight line in each group of connected points, and saves the coordinates of the first point of the line segment into the array. Prepare for communication with manipulator controller. This paper studies the hardware selection and control algorithm of drawing mechanical control system, solves the technical difficulty of communication between external coordinate value and internal variable of controller, and realizes the automatic control of drawing action of mechanical arm in Visual C 6.0. The drawing process of the robot arm is designed, and the automatic drawing of the face contour is completed.
【学位授予单位】：中国科学技术大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TP242
【参考文献】
相关硕士学位论文 前2条
1 周海波;基于活动轮廓模型的人脸轮廓提取方法的研究[D];四川大学;2004年
2 程勇光;基于肤色和面部几何特征的人脸检测算法的研究[D];北京交通大学;2008年
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