立体视觉系统的标定图像处理研究

论文总字数：25112字

摘 要

立体视觉是计算机视觉领域的一个重要课题，本课题是利用图像处理的相关技术对立体视觉系统的标定图像进行处理，课题中涉及了图像处理中的图像分割里的提取边缘特征，包括检测像素级别边界；本课题还涉及图像分析里的从像素到亚像素的处理，即提取亚像素级别的边缘。这是对标定图像进行处理的重要两步。

本论文的重点在第三章和第四章，第三章阐述了提取像素级别边缘的理论、方法和步骤，里面重点介绍了霍夫变换的原理和详细步骤，笔者还应用霍夫变换得到一些结果并采用图像形式将过程记录于本文。此外，还介绍了提取像素级别边缘的基本算子，笔者学会应用这五个算子，通过Matlab编程将一幅图的像素边缘通过五种不同的算子提取出来，并得到不同的像素边缘图。

第四章主要阐述了如何提取亚像素级别的边缘。由于像素级别的精度已经达不到现代技术的要求，而亚像素能达到较高的精度标准，所以为了提高边缘精度，本文在提取像素级别的边缘的基础上来提取亚像素级别的边缘。本章介绍了提取亚像素边缘的三种方法，其中重点阐述了基于傅里叶-梅林矩的提取亚像素边缘的方法，笔者还应用该方法提取一个圆的边缘并将过程图记录于本文。

关键词：立体视觉系统；图像处理；像素边缘检测；亚像素边缘检测

The research On The processing Of calibration image Of Stereo vision system

abstract

Stereo vision is an important subject in the field of computer vision, and computer vision is the senior operation in computing, and image processing is the low-level operations in processing, and processing of image analysis is the intermediate operation in computing. Technology related to this topic is the use of image processing, image processing, stereo vision system calibration in the subject involved in image processing to extract the edge character in the image segmentation, including the detection of pixel level boundary; This topic also involves from pixel to subpixel in the image analysis processing, the edge of the extraction of subpixel level. This is one of the most important two steps of calibration image processing.

This paper focuses on the third and fourth chapter, the third chapter expounds the theory, extracting pixel level edge, which focuses on the principle of Hof transform and detailed steps, the application of Hof transform and get some results using the image form will be recorded in this process. In addition, it also introduces the basic operator to extract the pixel level edge, I learn how to use the five operators, Matlab programming through the pixel edge of a picture by five different operators are extracted, and get the pixel edge of fig..

第四章主要阐述了如何提取亚像素级别的边缘。由于像素级别的精度已经达不到现代技术的要求，而亚像素能达到较高的精度标准，所以为了提高边缘精度，本文在提取像素级别的边缘的基础上来提取亚像素级别的边缘。本章介绍了提取亚像素边缘的三种方法，其中重点阐述了基于傅里叶-梅林矩的提取亚像素边缘的方法，笔者还应用该方法提取一个圆的边缘并将过程图记录于本文。

The fourth chapter mainly elaborates how to extract the sub-pixel edge. Because the pixel level precision is not up to the demands of modern technology, the precision standard and sub pixel can reach higher, so in order to improve the accuracy of the edge, to extract sub-pixel edge extraction based on pixel level edge. This chapter introduces three methods to extract sub-pixel edge, which focuses on the method of sub-pixel edge extraction based on the Fourier Mei Linju, the author also used this method to extract a round edge and will be recorded in the process graph.

Keywords: stereo vision system;image processing;pixel edge detection;subpixel edge detection

目 录

摘要.............................................................................................................................................................I

Abstract.......................................................................................................................................................II

第一章引言.................................................................................................................................................1

1.1 课题背景..........................................................................................................................................1

1.2 国内外发展现状..............................................................................................................................1

1.3本章的主要研究内容及论文结构...................................................................................................2

第二章 立体视觉系统的标定和图像处理................................................................................................3

2.1 立体视觉系统的标定......................................................................................................................3

2.2 图像处理的概念..............................................................................................................................3

2.3数字图像处理的一般步骤...............................................................................................................4

第三章 边缘检测........................................................................................................................................5

3.1 边缘检测..........................................................................................................................................5

3.1.1 边缘检测的基本步骤.........................................................................................................5

3.1.2 边缘检测技术概括.............................................................................................................5

3.2 像素级别的边缘检测算子............................................................................................................ .6

3.2.1 Sobel算子.................................................................................................... .......................6

3.2.2 Robert算子..........................................................................................................................6

3.2.3 Prewitt算子.........................................................................................................................6

3.2.4 Laplacian算子.....................................................................................................................6

3.2.5 Canny算子..........................................................................................................................7

3.2.6利用各种算子获得的边缘图.......................................................................................... ..7

3.3 霍夫变换的概述.........................................................................................................................8

3.4 霍夫变换检测圆...................................................................................................................... ..8

3.4.1预处理.................................................................................................................................8

3.4.2霍夫变换.............................................................................................................................9

3.5 实验结果与分析.................................................................................................................... ..10

3.6 本章小结...................................................................................................................................12

第四章 亚像素级别的边缘提取方法..................................................................................................13

4.1 亚像素边缘检测概述...............................................................................................................13

4.2 亚像素的定位原理...................................................................................................................13

4.3 拟合法.......................................................................................................................................13

4.3.1 最小二乘法理论............................................................................................................14

4.3.2 多项式拟合法..................................................................................................................14

4.3.3 椭圆曲线拟合法..............................................................................................................14

4.4 插值法.........................................................................................................................................15

4.4.1 最近邻插法......................................................................................................................15

4.4.2 双线性插值法..................................................................................................................15

4.4.3 高阶插值法......................................................................................................................16

4.5 基于矩的亚像素边缘检测方法.................................................................................................16

4.5.1边缘模型...........................................................................................................................16

4.5.2正交傅里叶-马林矩..........................................................................................................17

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