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基于视觉测量的挖掘机工作装置姿态测量系统 被引量:7
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作者 王海波 邹海龙 张如照 《农业机械学报》 EI CAS CSCD 北大核心 2015年第4期302-308,共7页
提出了一种基于视觉测量的挖掘机工作装置姿态测量方法。使用工业相机获取工作装置侧视图像,采用鞍点检测方法快速捕捉工作臂上的人工靶标;将靶标间的固定几何尺寸关系作为约束条件筛选出靶标中的鞍点并计算相应工作臂的姿态角;通过预... 提出了一种基于视觉测量的挖掘机工作装置姿态测量方法。使用工业相机获取工作装置侧视图像,采用鞍点检测方法快速捕捉工作臂上的人工靶标;将靶标间的固定几何尺寸关系作为约束条件筛选出靶标中的鞍点并计算相应工作臂的姿态角;通过预判靶标的运动范围以缩小图像检测区域,提高算法处理速度。试验表明,与挖掘机上原有的拉线传感器测量系统相比较,动臂和斗杆姿态角动态测量偏差分别小于1°和2°,处理每帧工作装置运动图像平均用时在100 ms以内,验证了该方法对挖掘机工作装置姿态测量的可行性。 展开更多
关键词 挖掘机 视觉测量 姿态角 鞍点检测
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HESSIAN MATRIX BASED SADDLE POINT DETECTION FOR GRANULES SEGMENTATION IN 2D IMAGE 被引量:4
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作者 Chen Ken Wang Yicong Yang Rener 《Journal of Electronics(China)》 2008年第6期728-736,共9页
Segmenting the touching objects in an image has been remaining as a hot subject due to the problematic complexities, and a vast number of algorithms designed to tackle this issue have come into being since a decade ag... Segmenting the touching objects in an image has been remaining as a hot subject due to the problematic complexities, and a vast number of algorithms designed to tackle this issue have come into being since a decade ago. In this paper, a new granule segmentation algorithm is developed using saddle point as the cutting point. The image is binarized and then sequentially eroded to form a gray-scale topographic counterpart, followed by using Hessian matrix computation to search for the saddle point. The segmentation is performed by cutting through the saddle point and along the maximal gradient path on the topographic surface. The results of the algorithm test on the given real images indicate certain superiorities in both the segmenting robustness and execution time to the referenced methods. 展开更多
关键词 Hessian matrix Image segment Saddle point Touching objects
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