实时提取直线参数的两步算法

Two-step real-time algorithm applied in extracting the parameters of line

跑道直线参数的实时提取是反机场子弹末敏器进行末端修正的前提条件。提出了实时提取直线参数的两步法:通过采用Sobel算子细化边缘的方法来提取图像中的边缘点,计算边缘点的梯度方向直方图,确定最大的响应方向,即跑道的法线方向,同时将梯度方向不在最大响应方向的边缘点剔除;在确定了跑道方向之后,通过采用一维参数的Hough变换法来把跑道的直线参数提取出来。试验结果表明,在保证精度的情况下两步直线提取法计算量小,在DSP芯片上运行,其处理帧频可达到50帧/s,满足了实际的作战要求。

Extracting the parameters of the runway in real-time are the precondition to achieve bottom modifying. A two- step real-time algorithm applied in extracting line parameters is presented. Firstly, the edge is thinned with Sobel operator to get the edge point, and the histogram of gradient＇s direction is calculated. From the histogram the main or wanted direction of edge can be easily distinguished, which is also the runway＇s normal direction, the .same time those points whose gradient＇s di- rections are not the same as the main direction are removed. Secondly, one-dimension parameter＇s Hough transform is applied to extract the line＇s parameters. The experiment result testifies that this method guarantees the precision with very little com- putation. Running on DSP, the method can processes 50 frames per second, which fulfills the demand of battle.