AGV机器人多角度静态识别图像智能拼接方法

Intelligent Splicing Method of Multi-angle Static Recognition Image of AGV Robot

传统多角度静态图像识别拼接方法存在图像拼接精准度低、识别准确率低和拼接时间、识别时间长的问题,对此,文章提出了AGV机器人多角度静态识别图像智能拼接方法。对中心矩进行了归一化处理,获得多角度不变矩,利用不变矩对静态图像进行特征提取;采用对数几率回归分类算法进行分类;采用最大似然法估算图像中的参数;利用梯度下降法判定参数最小值,得到图像识别结果;利用AGV机器人,将图像的识别结果投影到变换矩阵中,将矩阵中的重叠图像划分成一个缝合部分和两个过渡部分;通过多分辨率图像融合算法和加权平均图像融合算法对这三个部分进行融合,得到完整的图像,实现静态图像智能拼接。实验结果表明,该方法的拼接精准度较高、识别准确率始终在80%以上,拼接时间最高仅为36 s,识别时间始终低于20 s,该方法的准确性高、实时性强。

The traditional multi angle static image recognition and stitching method has the problems of low image stitching accuracy,low recognition accuracy,long stitching time and recognition time.Therefore,this paper proposes an intelligent stitching method for multi-angle static recognition image of AGV robot.The central moment is normalized to obtain the multi-angle invariant moment,and the invariant moment is used to extract the features of the still image.Logarithmic probability regression classification algorithm is used for classification.The maximum likelihood method is used to estimate the parameters in the image.The minimum value of parameters is determined by gradient descent method,and the image recognition result is obtained.Using AGV robot,the recognition result of the image is projected into the transformation matrix,and the overlapping image in the matrix is divided into a stitching part and two transition parts.The three parts are fused by multi-resolution image fusion algorithm and weighted average image fusion algorithm to obtain a complete image and realize the intelligent splicing of static images.The experimental results show that the stitching accuracy of this method is high,the recognition accuracy is always more than 80%,the highest stitching time is only 36 s,and the recognition time is always less than 20 s.This method has high accuracy and strong real-time performance.