基于随机Hough变换的圆心三维坐标提取研究

Three-Dimensional Coordinate Extraction of Circular Center Based on Random Hough Transform

针对圆形目标的二维图像无法直接获取其中心三维坐标的问题,提出了一种基于随机Hough变换的圆心三维坐标提取的方法。随机Hough变换方法可对采集到的圆形目标图像快速地进行圆形中心特征点的检测定位,并根据双目视觉算法将获取到的特征点二维坐标进行立体匹配,最终得到圆形目标中心的三维坐标信息。所提方法主要用于石油钻井领域中智能化接单根作业的钻杆定位工作,针对钻杆接头图像定位的实验结果表明:相比于传统Hough变换方法,随机Hough变换方法检测的计算时间大大缩短,可以显著提高特征点检测效率;同时结合双目视觉算法能够准确提取圆形目标中心的三维坐标,且精度高、稳定性好。

A threedimensional coordinate extraction method for the circle center,based on the random Hough transform,is proposed,aiming at the problem that the central threedimensional coordinates of the circular target cannot be obtained directly from the twodimensional image.The random Hough transform method can quickly detect and locate the feature points of the collected circular target image’s circular center.Further,according to the binocular vision algorithm,the twodimensional coordinates of the obtained feature points are stereo matched,and finally the threedimensional coordinate information of the center of the circular target is obtained.The proposed method is mainly used in the field of oil drilling for an intelligent single drill pipe positioning joint operation.The experimental results for drill pipe joint image positioning show that,when compared with the traditional Hough transform method,the calculation time of the random Hough transform method is greatly reduced and the efficiency of feature point detection can be significantly improved.Simultaneously,when combined with a binocular vision algorithm,it can accurately extract the threedimensional coordinates of the center of the circular target with high precision and good stability.