小波边缘检测在视觉图像分析中的应用研究

发布时间：2018-02-10 00:38

本文关键词： 小波变换边缘检测图像识别机器视觉系统箱体搬运　出处：《哈尔滨理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：智能机器人在工业生产中对提高生产效率起到了关键作用。将机器视觉技术引入智能机器人,会提高其操作的灵活性和动作的复杂性。机器视觉图像中包含了大量信息,而智能机器人所需要的往往只是图像边缘特征,因此,视觉图像分析的核心是图像边缘提取,以及目标的位姿识别。以机器人搬运箱体为应用背景,首先,论文对常用的图像边缘检测算法进行比较,分析各自的优缺点。在此基础上提出小波边缘检测方法,选择二次B样条函数作为小波函数,对拍摄的包装箱图像进行处理。由于受实际工作环境的影响,机器视觉系统拍摄的图像噪声较大,小波变换滤除图像噪声效果最佳。其次,针对用小波来进行图像的边缘检测时,容易出现边缘丢失以及弱边缘的问题,改进了基于小波变换的图像边缘检测方法,提出了小波变换与数学形态学相融合的图像边缘检测算法。在边缘检测的基础上,研究了图像识别以及箱体位姿信息提取方法,通过坐标变换,计算出箱体在机器视觉系统中的空间位置及姿态,准确提取出箱体位姿信息。最后,搭建了机器视觉检测系统,对系统中使用到的硬件分析和选型。开发了基于VC++的Motoman机器人控制系统,及机器人视觉检测系统图像处理单元。在搬运箱体实验中,通过采集视觉图像及图像分析处理,准确提取了箱体的位姿信息,为控制机器人搬运箱体提供了准确的视觉图像信息。本文提出的小波变换与数学形态学融合的边缘检测算法以及图像识别方法,能准确提供箱体的位姿信息,对机器视觉系统用于包装箱体的智能搬运,具有重要意义。
[Abstract]:Intelligent robot plays a key role in improving production efficiency in industrial production. Introducing machine vision technology into intelligent robot will increase the flexibility of operation and the complexity of action. The machine vision image contains a lot of information. But the intelligent robot often needs only the image edge characteristic, therefore, the visual image analysis core is the image edge extraction, as well as the target position and pose recognition. In this paper, the common image edge detection algorithms are compared, and their advantages and disadvantages are analyzed. On this basis, a wavelet edge detection method is proposed, and the quadratic B-spline function is selected as the wavelet function. Because of the influence of the actual working environment, the image taken by machine vision system has a large noise, and wavelet transform is the best to filter the image noise. In order to solve the problems of edge loss and weak edge in image edge detection based on wavelet transform, the method of edge detection based on wavelet transform is improved. An image edge detection algorithm based on wavelet transform and mathematical morphology is proposed. On the basis of edge detection, the methods of image recognition and extraction of box position and pose information are studied. Calculate the space position and attitude of the box in the machine vision system, extract the position and pose information of the box accurately. Finally, build the machine vision detection system, The Motoman robot control system based on VC and the image processing unit of the robot visual inspection system are developed. The position and pose information of the box is extracted accurately, which provides accurate visual image information for the control of the robot moving box. The edge detection algorithm and image recognition method based on the fusion of wavelet transform and mathematical morphology are presented in this paper. It is of great significance for the machine vision system to be used in the intelligent handling of the packaging box.
【学位授予单位】：哈尔滨理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.41;TP242

【相似文献】