基于HSI图像分割的AGV道路标线中心线提取

Path Central Guide Line Extraction for AGV Based on HSI Image Segmentation

针对视觉导航AGV的道路标线中心线提取,提出了一种新型的基于HSI图像分割的方法。该方法首先将原始的RGB图像转换成HSI图像,在此基础上完成图像分割。图像分割所获得的单色位图,经过图像形态学的处理,包括开运算、腐蚀、差运算等,最终可提取出道路标线的中心线。对实际道路图像数据的实验验证了该方法的有效性。与原有方法相比,该方法所需运算简单,实现该方法所需硬件资源消耗小,适合基于嵌入式系统开发的视觉导航AGV。

A path central guide line extraction technique has been proposed based on HSI image segmentation for vision-guided AGV.In this technique,the original RGB images are first converted into HSI images,and the image segmentation is then accomplished in the HSI space.After that,the image data is processed with the morphological methodologies,including the open calculation,corrosion and differentiation,and finally the central guide line is extracted.Experiments on real path images have verified that the proposed technique can work effectively.Compared to the other techniques for vision guided AGV,the proposed technique reduces the calculation complexity and requires less hardware for implementation and fits the AGV with embedded control system.