基于ARM的视觉导航AGV图像处理方法研究

为了实现更加简单高效的标识线图像的检测与处理，提出了一种优化的基于ARM的视觉导航AGV标识线图像处理方法。首先对采集到的图像进行灰度化处理并使用Otsu算法对图像进行阈值分割；然后采用优化的中值滤波算法进行图像滤波并使用高效的边缘提取策略获取路径边缘特征；最后采用角度判断的方法剔除错误点并使用最小二乘法拟合成路径的中心线。实验结果表明，该方法有较高的准确率和较好的实时性，可以满足工业生产中的实际需求，适用于基于嵌入式系统开发的视觉导航AGV。

Research on Image Processing Method of ARM-based Visual Navigation AGV

In order to achieve a more simple and efficient detection and processing of the navigation line image, an optimized navigation line image processing method for ARM-based visual navigation AGV is proposed.First, image collected by the camera is grayed and then segmented by Otsu algorithm. Second, the optimized median value filter algorithm is used to denoise and the efficient edge extraction strategy is used to obtain the path edge. Finally, the error points are eliminated by the method of angle judgment, and the central line of the path is synthesized by the least square method. The experimental results show that the method has high accuracy and good real-time performance, and can meet the needs of industry. It is suitable for visual navigation AGV based on embedded system.