| 基于机器视觉的谷物联合收获机行走目标直线检测 |
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| 引用本文： | 吴刚,谭彧,郑永军,王书茂.基于机器视觉的谷物联合收获机行走目标直线检测[J].农业机械学报,2012,43(Z1):266-270. |
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| 作者姓名： | 吴刚 谭彧 郑永军 王书茂 |
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| 作者单位： | 中国农业大学工学院,北京,100083 |
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| 基金项目： | 中央高校基本科研业务费专项资金资助项目(2012QJ010) |
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| 摘 要： | 针对谷物联合收获机视觉导航,提出基于改进Hough变换(HT)的谷物联合收获机行走目标直线检测算法.通过改进一维最大熵阈值分割方法,提高了阈值分割的速度；对二值图像通过行扫描和列扫描,确定了行走目标直线的终点位置以及直线方向上的候选点；以候选点为点集,利用最小二乘直线拟合和直线终点位置确定了待检测直线上已知一点；利用改进HT完成直线检测,与传统的HT相比,将二元映射转换为一元映射,加快了算法速度、减少了空间占用和提高了抗干扰能力.经过对多幅图片的处理,证明算法能够有效地检测出直线参数,且处理时间在100 ms左右.
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| 关 键 词： | 联合收获机 机器视觉 Hough变换 直线检测 图像分割 |
Walking Goal Line Detection for Grain Combine Harvester Based on Machine Vision |
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| Wu Gang,Tan Yu,Zheng Yongjun and Wang Shumao.Walking Goal Line Detection for Grain Combine Harvester Based on Machine Vision[J].Transactions of the Chinese Society of Agricultural Machinery,2012,43(Z1):266-270. |
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| Authors: | Wu Gang Tan Yu Zheng Yongjun and Wang Shumao |
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| Institution: | China Agricultural University;China Agricultural University;China Agricultural University;China Agricultural University |
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| Abstract: | Aimed at visual navigation of grain combine harvester, an algorithm was proposed for walking goal line detection on improved Hough transform (HT) on grain combine harvester. Through the improvement for image threshold segmentation of the 1-D maximum entropy, the computing speed was increased. After scanning the rows and columns of binary images, the end position of the walk goal line and the candidate points on the direction of the walk goal line were determined. Then the candidate points were used as points set, least squares methods and the end position of the goal line were combined to determine the point from the test line. The improved HT has finished the test line detection. Compared with the traditional HT, the improved HT transfers binary mapping into 1-D mapping, the computing speed was accelerated, and the space occupied was reduced. Meanwhile, the anti-interference ability was improved effectively. After testing thousands of pictures, the algorithm was well proved with effectively detecting the linear parameters, and the processing time was about 100ms. |
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| Keywords: | Combine harvester Machine vision Hough transform Line detection Image segmentation |
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