机器视觉中圆形特征的三维模型分析研究

 提出了一种机器视觉中圆形特征的三维模型分析方法。通过最小化数据点与所拟合椭圆的代数距离平方和,在满足二次曲线为椭圆的约束条件下,利用拉格朗日乘子法求得椭圆的5个特征参数。通过分析圆形特征的透视成像模型与原理,利用闭式解求得具有已知半径的圆形特征的三维位置和方向。对一组在标定模板上相同大小的圆进行特征检测与模型分析后,实验结果表明本文方法是有效和精确的。     

Building an accurate 3D model of a circular feature for robot vision

In this paper, an accurate 3D model analysis of a circular feature is built with error compensation for robot vision. We propose an efficient method of fitting ellipses to data points by minimizing the algebraic distance subject to the constraint that a conic should be an ellipse and solving the ellipse parameters through a direct ellipse fitting method by analysing the 3D geometrical representation in a perspective projection scheme, the 3D position of a circular feature with known radius can be obtained. A set of identical circles, machined on a calibration board whose centres were known, was calibrated with a camera and did the model analysis that our method developed. Experimental results show that our method is more accurate than other methods.     

Mode analysis of axially-asymmetric optical resonators

The characteristics of an axially-asymmetric optical resonator(AAOR)areanalysed by using the variable reference plane method.The positions of the beam waist andthe plane wavefront are obtained.The variation of the beam size ellipse and wavefront curva-ture ellipse are also discussed.     

基于切延迟的椭圆反射腔的吸引子研究

本文使用转移矩阵的方法,引入椭圆角转换函数,使椭圆问题得到简化,推导出十分简单的切延迟椭圆反射的迭代公式,这样非常有利于理论分析.切延迟椭圆反射腔映射系统(TD-ERCS)在切延迟1单位时存在吸引子,利用该公式,对其吸引子形成的原因及稳定性做了理论分析,发现圆的吸引子与椭圆不尽相同;同时发现椭圆有两个不动线,但只有一个是稳定的.本文还发现,随着椭圆压缩因子μ的减小,对于任意的切延迟因子m,相邻两次迭代数据间的相关性增强,这说明将该系统用作密码系统,椭圆压缩因子μ不能太小,同时混沌系统本身要求μ不能太大,否则降低安全度. 关键词： 混沌 切延迟 TD-ERCS 吸引子     

用黑斑的椭圆性质在二值化图像中探测眼睛

在人脸探测过程中 ,双眼的探测非常重要 ,这是因为人的眼睛是人脸上最容易探测到的特征部位。通过双眼探测还可以对人脸进行定位 ,使人脸的尺寸归一化。探讨了一种基于二值化图像中黑斑几何形状分析的双眼探测方法。因为人眼的形状比较接近椭圆 ,故在研究黑斑的几何性质时 ,重点研究黑斑的椭圆性质。所谓黑斑的椭圆性质是指按照黑斑的面积和二阶矩计算出的椭圆参数。椭圆的主要参数有椭圆的面积、质心、长短轴的长度和方向角 (椭圆长轴与水平方向的夹角 )。为了描述黑斑与椭圆的近似程度 ,定义了椭圆硬度的概念。根据眼睛黑斑椭圆参数的测试数据建立了探测眼睛的数学模型 ,并给出了根据此模型得到的双眼探测的实验结果     

光学测量中椭圆圆心定位算法研究

提出了一种椭圆圆心定位算法。先对图像中的椭圆目标进行粗定位,获取椭圆的粗定位信息,再用Canny算子对图像中的感兴趣区域进行边缘检测。根据椭圆的粗定位信息以及图像的边缘灰度分布特征,用高斯曲线拟合的方法求得精确的亚像素边缘点的坐标。针对亚像素边缘点中出现的“孤立点”以及噪声点,分别用曲率滤波和均值滤波的方法加以滤波,将滤波后的亚像素边缘点用最小二乘法加以拟合,求得精确的椭圆圆心数据。实验证明了该算法的定位精度和抑制噪声能力,通过测试算法运行时间,证明该算法具有很好的实时性。     

一种基于长轴和对偶性的椭圆检测新算法

提出一种新的基于椭圆长轴信息的椭圆检测算法,利用椭圆长轴信息来确定椭圆的四个参数,并利用累积的方法得出短轴的值。在确定长轴时,利用椭圆的对偶性对长轴做出验证。实验表明,该算法比原长轴算法降低了运算时间。     

Ellipse detection and phase demodulation for wood grain orientation measurement based on the tracheid effect

The methods of ellipse detection and phase demodulation for determining wood grain orientation are proposed. These methods are based on the tracheid effect—laser beam impinging upon a wood surface forms an elongated laser spot with its direction indicative of the grain orientation. Experimental results show that the method of ellipse detection is suitable for the grain orientation measurement on planed softwood surfaces, while the method of phase demodulation is capable of extracting the grain orientation precisely from laser images with low signal-to-noise ratio, such as the images on the surfaces of hardwood species or roughsawn materials.     

自由反射面设计中的椭流面光滑化研究

基于配焦椭流面的光学自由曲面设计具有几何意义明确、设计灵活和优化思路清楚等优点,但也存在表面不光滑的弊端。为了将每个椭流面片尽可能地光滑拼接,从边缘一点为起始位置开始构建自由反射面,先在方向构建光滑的椭流面,然后通过调整能量分配的方法,减小曲面在方向的不连续性。通过仿真验证,此方法可在2 min内完成对40 000个椭球面片的计算处理,构建的曲面保证能量在目标面上均匀分配的同时在连续光滑性上也有很大提高。     

一种新的基于弧段提取的椭圆检测方法

为了克服椭圆检测过程中对椭圆完整性和边缘梯度信息依赖性较强的缺点,实现椭圆目标的快速有效检测,提出了一种新的基于弧段提取的椭圆拟合方法。首先将梯度方向符号相同的相邻边缘点连接成弧段,然后根据弧段的凸性和象限分类组成包含三段弧的弧组,定义了新的弧选择策略,利用位置约束和弧对的椭圆中心估计提取候选椭圆,最后采用改进的拟合算法拟合椭圆。实验结果表明,基于弧段提取的椭圆拟合方法相对于LMEDS算法和RHT3具有更好的准确性、鲁棒性和稳定性,实时性也有一定的提高。     

The high precision positioning algorithm of circular landmark center in visual measurement

For vision measurement in the center circle landmark location problem, an improved center of the ellipse based on Zernike moments sub-pixel positioning algorithm was proposed. First, using Sobel operator edge of the image pixel level positioning and then use the constructed Zernike moments to solve the model, combined with Zernike orthogonal polynomials and completeness and plural moment magnitude rotational invariance calculated edge sub-pixel position; followed by analysis of the principle deviation generated by the moments template and ideals model, a correction formula was proposed to compensate and improved edge criterion used to image sub-pixel edge positioning; finally, using the least-squares ellipse fitting algorithm fitting circle center, reverse edge point, filtered residuals larger point, and then precise positioning of the ellipse center. The experimental results show that this method has good stability and high positioning accuracy can be efficiently used in many applications.     

A New Technique for CCD Camera Auto-Calibration

A novel feature-round-based coplanar drone for the CCD camera auto-calibration is designed. Based on the ellipse similarity, an ellipse recognition algorithm is proposed. The experiment indicates the calibration error is less than 0.4 pixel.     

双目视觉测量系统特征点提取与匹配技术研究

自主研发了一种光笔式双目立体视觉大工件尺寸测量系统,对测量系统中特征点的提取及其匹配技术进行了研究。测量系统采用 Canny 算子和 Zernike 矩相结合的算法实现椭圆光斑的亚像素边缘提取,根据得到的亚像素边缘点,采用基于最小二乘的曲线拟合法得到椭圆光斑的中心坐标。针对特征点的匹配问题,提出了一种基于位置约束的快速匹配方法。实验结果显示:所提方法能提取到椭圆光斑亚像素边缘,可精确计算出椭圆光斑中心坐标,匹配率达到95%以上。     

一种基于IIR光交错滤波器的设计方法

基于数字信号处理中的IIR理论,提出了一种基于MGTI型interleaver的新颖设计方法,可以简便地得到所求的各组结构参量.通过z变换简化透射方向和反射方向光波电矢量的表达式,分析了零极点位置对整个滤波器的影响,利用IIR中椭圆滤波器的设计方法得到Gires Tournois腔的腔长、臂长差和Gires Tournois腔各镜面的反射率.并给出了利用两个双镜Gires Tournois腔替代两面全反镜所得到的三组不同参量,比较了采用不同Gires Tournois腔所得到的相应的1、3、5、7、9阶interleaver的模拟仿真结果.     

Atomic parameter model for the solid solubilities in binary transition metal based alloys

Based on the same method by us which describes the solid solubilities of the binary nontransition metal based alloys, the solid solubilities at room temperature in 1380 binary alloys which are based on the 23 transition metals (Sc, Ti, V, Cr, Mn, Fe, Co, Ni, Y, Zr, Nb, Mo, Ru, Rh, Pd, La, Hf, Ta, W, Re, Os, Ir and Pt) of the fourth, fifth and sixth long periods have been studied in this paper. It has been found that the soluble elements can be separated from the insoluble elements by an ellipse equation (x−m) ²/c ²+(y−n) ²/d ² = 1, by using a criterion of 0.5at% solubility at room temperature for every host element. The results show that the overall reliability for the ellipse equation is up to 90% for the 1380 alloys, which indicates the theoretical results are very good in agreement with the experimental data. The parameters m, n, c and d in the ellipse equation can be explained by the appropriate parameters for every host metal.     

一种基于四象限探测器的深孔直线度测量方法的研究

介绍了以半导体激光光束为测量基准,采用四象限探测器进行深孔直线度检测的原理和方法。重点针对实际激光器近似于椭圆形状的入射光斑,推导了输出电压与椭圆光斑中心的变化规律,分析了光斑椭圆度对测量误差的影响,论证了方案的可行性与可靠性。     

折反射全向相机镜面位姿的自标定方法

在已知镜面和透视相机参数的情况下,提出一种不需要任何其他标定物的折反射全向相机镜面位姿的自标定算法,只需要折反射相机采集任意一幅图像即可估计出反射镜面与透视相机之间的旋转和平移。利用镜面外边缘所成的像,通过平面圆位姿估算方法获得两个候选位姿;再利用透视相机镜头边缘的成像,同时进行镜头边缘参数估计和镜面位姿选择。该标定方法操作简单,精度高,适用于非单视点相机的标定。仿真和真图实验结果证明了该方法的有效性。     

A method for measuring the thickness of transparent oil film on water surface using laser trigonometry

We present a method for measurement of thickness of transparent oil film on water surface based on laser trigonometry. With an oblique incident mode of single-point laser triangulation ranging system, laser light is incident on the upper and lower surfaces of the oil film being measured and an ellipse light spot is formed on the upper and lower surfaces of the oil film. The two light spots are imaged on an image plane CCD by an imaging lens and the image spot is formed and stored in a computer. The thickness of oil film being measured can be obtained by displacement of the image spot and the configuration parameter of the imaging system. The experiment is conducted using edible peanut oil and diesel oil. The research results show that the method presented in this paper is feasible and applicable to dynamic on-line measurement of oil film thickness of oil spill on sea surface.     

Extraction of Input Objects from Optical Hough Transform Data

We propose a method of extracting the true length of a line and an ellipse with two axes from the width of envelopes in the parameter domain. We performed computer simulations and, using a Hough transform computer generated hologram filter, also performed optical experiments. Our experimental results were very similar to those of the simulation.     

Elliptic critical points: C-points, a-lines, and the sign rule

The critical points of generic paraxial ellipse fields consist of singular points of circular polarization, called C -points, and azimuthal stationary points, i.e., maxima, minima, and saddle points. We define these stationary points here and review their properties. The sign rule for ellipse fields requires that the sign of the singularity indices I(C)=+/-1/2 of the C -points on non-self-intersecting lines of constant azimuthal ellipse orientation (modulo pi/2), i.e., a -lines, alternate along the line. We verify this rule experimentally, using a newly developed interferometric technique to measure C -points and a -lines in an elliptically polarized random optical field.