基于Harris角点检测的装填靶标识别方法

Loading Target Identification Method Based on Harris Corner Detection

自动装填系统是通过机械臂及配套的位姿检测设备实现战车之间装卸箱弹或筒弹的系统。基于机器视觉的图像处理技术作为自动装填技术的关键技术之一用于装卸过程中对靶标的精确定位。为解决自动装填中对靶标的精确定位问题,针对靶标图像特征,提出了一种针对性强的特征点检测算法,可以快速对图像特征点进行识别。通过实验结果分析处理,这种特征点检测算法可以有效提高定位速度与精度,使装填效率得到进一步提升。

The automatic loading system is system of loading and unloading missile-in-container or missile-in-tube between vehicles through the mechanical arm and matching attitude detection equipment.As one of the key technologies of automatic loading,the image processing technology based on machine vision is used to precisely locate the target during loading and unloading.In order to solve the problem of accurate target location in automatic loading,a highly targeted feature points detection alggorithm is proposed for target image features,which can quickly recognize image feature points.By analyzing the experimental processing results,this feature point detection algorithm can effectively improve the locating speed and accuracy,and improve the loading efficiency to a certain extent.