基于小波分析和概率Hough变换的书脊视觉识别

Book-spine recognition by robot vision based on wavelet analysis and probability Hough transform

针对无人图书馆中机器人利用视觉进行书脊识别问题展开研究。根据书脊图像本身较复杂、单本书轮廓难以提取的特点,提出了运用小波分析做书脊轮廓增强的图像预处理方案;通过实验比较了运用Sobel算子和Canny算子做书脊轮廓检测的效果,用累计概率霍夫变换法做书脊线段查找,用VC++和OpenCV开发了应用程序;借鉴模糊计算思想,针对厚、较厚、中等厚度、较薄、薄、混合等几种类型的书脊进行了分类实验和研究,再经辅助优化处理,基本可有效识别出不同情况下每本书的书脊轮廓,检测出每本书的厚度,为机械手利用视觉进行图书取放操作奠定了基础。

The problem of the book-spine recognition by library robot vision is studied. According to the characteristics that the book-spine image is complex and the outline of every book is difficult to be extracted. , the image preprocessing idea is proposed, which uses Wavelet analysis to heighten the out- lines of the book-spine. Through experiments, Sobel and Canny edge detection methods are compared. And the Canny edge detection method is finally used to detect the hook-spine outlines. Probability Hough transform algorithm is adopted to find the lines of the book-spine image. VC＋ ＋ and OpenCV are used to develop the application program. According to the thickness （Very Thick, A Bit Thick, Me- dium Thick, A bit Thin, Thin, Hybrid） of a single book, several types of book-spine recognition tests are performed. The outlines of every book-spine are effectively recognized and the thickness of every book is obtained by programming optimization process. This study lays a foundation for the books grasp operating by manipulator vision.