基于离散曲率特征的弧线形状检测方法

doi:10.12066/j.issn.1007-2861.1764

Abstract

Abstract:

Detection of object shape is the basis of autonomous environment understanding for robots. An object turns into connected domains after color layering and multi-scale filtering segmentation, and therefore it can be easily analyzed. In view of this, a method based on discrete curvature characteristics is proposed to detect the arc shape of objects. This method is based on extraction of object contour, and detection of lines and features. Interferential lines are illuminated, and the arc features are detected according to the discrete curvature changes of the remaining contour points. A system of robot operation is established for experiments. Average precision of arc contour detection is 90.6% and the handling time is 0.75 s. The result shows effectiveness of the proposed method in detecting arc contour of objects.

Key words: environment understanding, object shape, service robot, arc detection

ZHANG Xudong, ZHAO Qijie. Arc contour detection method based on discrete curvature characteristics[J]. Journal of Shanghai University（Natural Science Edition）, 2017, 23(5): 702-713.

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Arc contour detection method based on discrete curvature characteristics

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