基于计算机视觉的AGV导航标识带识别与提取方法

A Method of Guided Ribbon’s Center Line Recognition and Extraction Based on Computer Vision

针对基于标识带导航的自动导引车(AGV)对中心线提取精度要求高的特点,应用计算机视觉原理,设计了一种导航标识带识别与中心线提取方法。首先对摄像头采集到的图像进行预处理,包括灰度化、图像滤波、图像分割、图像边缘检测;然后提出了一种基于几何作图的标识带中心线提取方法,并根据中心线方程解算出偏角和偏距等信息;最后将上述过程整合,基于MATLAB设计了导航标识带中心线提取系统,通过多次实验测试表明设计的系统达到了预定的要求。

Aiming at high requirement of center line extraction of AGV in precision based on guided ribbon,a method of guided ribbon recognition and center line extraction is designed by using the principle of computer vision.For the first,the images collected by camera is conducted by a serial of proceedings including Graying,Median filter,image threshold segmentation and boundary of the segmented image detection.Then a method of guided ribbon’s center line extraction based on geometric construction is proposed,figuring out a serial of information such as deflection and offset distance and so on according to center line equation.Ultimately,mentioned processes are blended to design a system of guided ribbon’s center line extraction based on MATLAB.