基于视觉的圆孔Hough变换对螺栓孔位置的估计
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基于视觉的圆孔Hough变换对螺栓孔位置的估计(中文13000字,英文3000字)
摘要
为了在建筑自动化领域中使用机器人，我们提出了螺栓机器人的概念和视觉伺服控制方案，以跟踪结构钢框架中螺栓孔的螺栓连接工具。 为了估计螺栓孔的位置，使用圆形霍夫变换（CHT）来提取圆。 通常，由于圆的维数的力量，CHT在计算上是复杂的。 可以使用安装的激光测距仪测量从相机到钢架的距离。 螺栓孔的半径可以通过与钢框架的距离来计算。 由于半径已知，因此CHT的处理可以减少到2D。 此外，它还包含图像预处理功能，使螺栓孔图像清晰。 预处理有4个步骤，包括补偿镜头失真，噪声滤波，直方图均衡和边缘检测。
关键词：施工自动化，机器人，螺栓孔检测，图像处理，圆形霍夫变换
Vision-Based Estimation of Bolt-Hole Location using Circular Hough Transform
Yungeun Choe1, Hoo-Cheol Lee1, Young-Joong Kim1, Dae-Hie Hong2, Sin-Suk Park2, Myo-Taeg Lim1
Abstract: In order to use a robot in the construction automation filed, we proposed the concept of Bolting Robot and a visual servo control scheme to track a bolting tool to a bolt hole in the structural steel frame. For estimating a location of a bolt hole, Circular Hough Transform (CHT) was used to extract circles. Generally, CHT is computationally complex due to a power of the dimensionality of a circle. A distance from a camera to a steel frame can be measured by using laser range -finder installed. The radius of a bolt hole can be calculated with the distance to a steel frame. Since the radius is known, the processing of CHT can be reduced to 2D. In addition, it contains image pre-processing to make an image of bolt holes to be clear. Pre-processing has 4 steps which consist of compensating lens distortion, noise filtering, histogram equalization, and edge detection.
Keywords: Construction Automation, Robot, Bolt Hole Detection, Image Processing, Circular Hough Transform