摘要
针对擦窗机器人的障碍检测与识别问题 ,提出了一种综合、实用的玻璃窗框及边界的检测方法 .方法首先对采集图像进行小波分解 ,得到图像低频部分的直方图 ,再通过对直方图的小波分析确定图像模糊化的阈值 ,然后根据该阈值定义新的隶属度函数 ,将图像转换到等效的模糊特征平面上作增强运算 ,得到增强图像 ,最后针对增强图像完成边缘检测及识别 .实验结果证明了此方法对提高实时性和可靠性是有效的 .
This paper presents a comprehensive and practical method for a window cleaning robot to detect and recognize obstacles. A sample image is decomposed firstly using wavelet method and its lower frequency histogram is obtained. Then, analyzing the histogram using wavelet gets the thresholds of the fuzzy image. Defining new membership functions according to these thresholds, the sample image is transformed into a fuzzy image and enhanced. At last, the enhanced fuzzy image is transformed back into a enhanced sample image, on which border detecting and recognizing are carried out. Experiments prove the method is more real time and available.
出处
《机器人》
EI
CSCD
北大核心
2002年第5期404-408,共5页
Robot
