一种基于OpenCV的多扇区圆检测方法

1116201161671—1815201116-3698-05ScienceTechnologyandEngineeringVol.11No.16June20112011Sci.Tech.Engng.OpenCV12216661002650051OpenCV。OpenCVHough。OpenCVHoughTP391．41A201133381968—。[e-mail]。。。。。。。OpenCV。1OpenCVOpenCVBSD1999IntelWillowGarage。CC++Python、Ruby、MATLABLinux、Win-dowsMacOS。2．2。OpenCVCIntelIPPIntegratedPerformancePrimitives。、、、、、、。22．1。Hough。Hough1Hough。、、、Radon2—56。7。2．2。1。1oxyx、yxyxyxα。xyx8。10π[]4x＞0y＞00＜tanα≤12π4π[]2x＞0y＞01＜tanα3π23π[]4x＜0y＞0tanα≤－143π4[]πx＜0y＞0－1＜tanα≤05π5π[]4x＜0y＜01＜tanα65π43π[]2x＜0y＜00＜tanα≤173π27π[]4x＞0y＜0tanα≤－187π42[]πx＞0y＜0－1＜tanα≤0。iMi。iNiMiNiRi。Ri=∑j=pj=1mij·niji=12…8。pmijMijnijNij。xyxαtanαy/xtanαxxyx＞0y＞00＜tanα≤1。η。Ri≥ηsi10SS=∑8i=1siS8。ττ∈123…8。S≥τor1+r22。HoughHoughHoughRandomizedHoughTrans-formRHT8。。ητ。τ。2．3OpenCV1。996311OpenCV223ητητ、ητ42544。4。2。33Hough。IntelRPentiumRT23901．86GHz1GB640×480100。VC6．0OpenCVC++。3OpenCV、、、4。40073115136100123ms。5Hough6101514ms。6HoughHough。4OpenCV。。。1LamWCYYuenSY．EfficienttechniqueforcircledetectionusinghypothesisfilteringandHoughtransform．IEEETransactionsonIm-ageandSignal19961435292—3002．．200733523—253．．200827688—904．．200825330—325．Radon．201037472—766．．200937314—177GuoSi-yuZhangXu-fangZhangFan．AdaptiverandomizedhoughtransformforcircledetectionusingmovingWindow．InternationalConferenceonMachineLearningandCybernetics．AmericaIEEECommunicationsSociety20093880—38858．Hough．2010301174—176107311OpenCVAMethodforCircleDetectionUsingMulti-sectorBasedonOpenCVXIYin-baoQUANHai-yanXULing-liXishuangbannaVocationalTechnicalInstitute1Xishuangbanna666100P．R．ChinaFacultyofInformationEngineeringandAutomationKunmingUniversityofScienceandTechnology2Kunming650500P．R．ChinaAbstractAmethodofcircledetectionusingmulti-sectorbasedisputforwardonOpenCVforthedemandofmachinevisioninindustrialpracticeandassemblyline．AbriefintroductionofOpenCVisgivenfirstlytheprinci-pleofthiscircledetectionandthedetectionstepsaredescribedindetail．Theexperimentalresultsshowthatdetectcirclescorrectlyinahigherinterference．ComparedwithRandomizedHoughTransformRHTThismethodhashigherdetectionrateandhaslowercomputationaloverhead．KeywordscircledetectionOpenCVmulti-sector檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸檸houghtransform36924．．2005136681—6855．．200519170—746FutmanPVelgerM．TrackingtargetsusingadaptiveKalmanfilte-ring．IEEETransAerospElectronSyst1990265691—6987．2006144673—6808．．2008TwiceTrackingControlonOpto-electricTrackingServoSystemDONGHaoHUOJuControl＆SimulationCenterHarbinInstituteofTechnologyHarbin150080P．R．ChinaAbstractToimprovethetrackingprecisionofopto－electrictrackingservosystemtwicetrackingcontrolmethodwasgeneratedwhichhadthesameanti－jammingcapabilitywithoneloopcontrolandhighertrackingper-formance．Itssystemdiamgramwasdrawnandsystemfrequencycharacteristicwasanalyzed．Thetwicetrackingcontrollerwasdesignedconsideringtheinfluenceoftrackingdecetoroutputdelayinopto－electrictrackingservosystem．TrackingprecisionontwicePIcontrolis39timeshigherthanPIcontroland9timeshigherthanPIcontrolwithvelocitydelaycompensationbysimulation．Expermentshowstwicecontrolmethodiseffective．Keywordsopto-electrictrackingfrequencyanalyzehighgaindelay207311