圆柱透视投影轮廓的隐式方程描述和拟合方法

谢颖; 杨向东; 芮晓飞; 任书楠; 陈恳

doi:10.16511/j.cnki.qhdxxb.2016.22.025

PDF(3089 KB)

清华大学学报（自然科学版） ›› 2016, Vol. 56 ›› Issue (6) : 640-645. DOI: 10.16511/j.cnki.qhdxxb.2016.22.025

机械工程

圆柱透视投影轮廓的隐式方程描述和拟合方法

谢颖, 杨向东, 芮晓飞, 任书楠, 陈恳

作者信息 +

Implicit equation description and fitting method for cylinder perspective contours

XIE Ying, YANG Xiangdong, RUI Xiaofei, REN Shunan, CHEN Ken

Author information +

文章历史 +

摘要

为了提高从视觉图像中识别并提取圆柱透视投影轮廓的鲁棒性和精度, 将由直线和椭圆组成的投影轮廓曲线用含约束的二元高次隐式方程进行描述。采用该描述方式可将轮廓曲线拟合问题通过线性近似转化为含有非线性约束的非线性优化问题。针对该问题求解时, 先粗略地估计出曲线参数的初值, 再利用初值筛选出内点, 最后采用罚函数法将问题转化为求解无约束问题从而求得该优化问题的解。由于该描述方式引入了轮廓中直线和椭圆的相互约束, 采用该描述方式的轮廓曲线拟合方法比采用独立的直线或椭圆识别方法提取轮廓, 具有更强的抗噪能力。仿真和实物图像的实验结果表明, 该方法能有效提高圆柱投影轮廓曲线拟合的鲁棒性和精度。

Abstract

A constrained implicit equation is developed to enhance the robustness and precision of perspective contour extraction for cylinders. The contour curve fitting problem is converted to a nonlinear optimization problem containing nonlinear constraints by a linear approximation. The problem is then solved with a rough estimate of the curve parameters and the noisy points filtered to find reasonable points based on the rough estimate of the curve parameters. This constrained problem is then converted to an unconstrained problem using the penalty function method to find the solution. This method takes advantage of the constraint between the lines and the ellipse to give better anti-noise performance for perspective cylinder contour extraction than separate methods using lines or ellipses. Tests of synthetic and real images show that this method effectively improves perspective contour curve fitting for cylinders.

导出引用

谢颖, 杨向东, 芮晓飞, 任书楠, 陈恳. 圆柱透视投影轮廓的隐式方程描述和拟合方法[J]. 清华大学学报（自然科学版）. 2016, 56(6): 640-645 https://doi.org/10.16511/j.cnki.qhdxxb.2016.22.025

XIE Ying, YANG Xiangdong, RUI Xiaofei, REN Shunan, CHEN Ken. Implicit equation description and fitting method for cylinder perspective contours[J]. Journal of Tsinghua University(Science and Technology). 2016, 56(6): 640-645 https://doi.org/10.16511/j.cnki.qhdxxb.2016.22.025

中图分类号： TP391.4

参考文献

[1] Doignon C, De Mathelin M. A degenerate conic-based method for a direct fitting and 3-D pose of cylinders with a single perspective view [C]// IEEE International Conference on Robotics and Automation. Roma, 2007: 4220-4225.
[2] Huang J, Chen Z, Chia T. Pose determination of a cylinder using reprojection transformation [J]. Pattern Recognition Letters, 1996, 17(10): 1089-1099.
[3] Shiu Y C, Huang C. Pose determination of circular cylinders using elliptical and side projections [C]// IEEE International Conference on Systems Engineering. Dayton, OH, 1991: 265-268.
[4] XU Wenfu, XUE Qiang, LIU Houde, et al. A pose measurement method of a non-cooperative GEO spacecraft based on stereo vision [C]// International Conference on Control Automation Robotics & Vision (ICARCV). Guangzhou, 2012: 966-971.
[5] JIA Wenyan, YUE Yaofeng, Fernstrom J D, et al. 3D localization of circular feature in 2D image and application to food volume estimation [C]// Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). San Diego, CA, 2012: 4545-4548.
[6] Galamhos C, Matas J, Kittler J. Progressive probabilistic Hough transform for line detection [C]// IEEE Computer Society Conference on Computer Vision and Pattern Recognition. Fort Collins, CO, 1999: 560-561.
[7] Chia A Y S, Leung M K H, How-Lung E, et al. Ellipse detection with Hough transform in one dimensional parametric space [C]// IEEE International Conference on Image Processing (ICIP). San Antonio, TX, 2007: 333-336.
[8] 李良福, 冯祖仁, 贺凯良. 一种基于随机Hough变换的椭圆检测算法研究 [J]. 模式识别与人工智能, 2005, 18(4): 459-464. LI Liangfu, FENG Zuren, HE Kailiang. An improved algorithm for ellipses detection based on randomized Hough transform [J]. Pattern Recognition and Artificial Intelligence, 2005, 18(4): 459-464. (in Chinese)
[9] 屈稳太. 基于弦中点Hough变换的椭圆检测方法 [J]. 浙江大学学报: 工学版, 2005, 39(8): 1132-1135.QU Wentai. Chord midpoint Hough transform based ellipse detection method [J]. Journal of Zhejiang University: Engineering Science, 2005, 39(8): 1132-1135. (in Chinese)
[10] 范怡, 傅继武. 基于中点提取的椭圆检测算法 [J]. 计算机应用, 2011, 31(10): 2705-2707.FAN Yi, FU Jiwu. Ellipse detection algorithm based on center extraction [J]. Journal of Computer Applications, 2011, 31(10): 2705-2707. (in Chinese)
[11] SONG Ge, WANG Hong. A fast and robust ellipse detection algorithm based on pseudo-random sample consensus [C]// Kropatsch W, Kampel M, Hanbury A, eds. Proceedings of 12th International Conference on Computer Analysis of Images and Patterns. Vienna, Austria: Springer, 2007: 669-676.
[12] XIE Yingdi, Ohya J. Efficient detection of ellipses from an image by a guided modified RANSAC [C]// Image Processing: Algorithms and Systems VII. San Jose, CA: SPIE, 2009, 72450W.
[13] Martelli S, Marzotto R, Colombari A, et al. FPGA-based robust ellipse estimation for circular road sign detection [C]// IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPRW). San Francisco, CA, 2010: 53-60.
[14] Guerrero J, Salcudean S E, McEwen J A, et al. Real-time vessel segmentation and tracking for ultrasound imaging applications [J]. IEEE Transactions on Medical Imaging, 2007, 26(8): 1079-1090.
[15] Thévenaz P, Delgado-Gonzalo R, Unser M. The ovuscule [J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2011, 33(2): 382-393.
[16] Taubin G. Estimation of planar curves, surfaces, and nonplanar space curves defined by implicit equations with applications to edge and range image segmentation [J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 1991, 13(11): 1115-1138.
[17] 陈宝林. 最优化理论与算法 [M]. 北京: 清华大学出版社, 2005.CHEN Baolin. Optimization Theory and Algorithm [M]. Beijing: Tsinghua University Press, 2005. (in Chinese)
[18] 杨向东, 芮晓飞, 谢颖. 基于高效Hough变换的圆柱特征检测方法 [J]. 清华大学学报: 自然科学版, 2015, 55(8): 921-926. YANG Xiangdong, RUI Xiaofei, XIE Ying. Efficient Hough transform based cylinder feature detection algorithm [J]. J Tsinghua Univ: Sci and Tech, 2015, 55(8): 921-926. (in Chinese)
[19] 付生鹏, 赵吉宾, 夏仁波, 等. 基于环形镜面的相机外部参数自动标定方法[J]. 机器人, 2015, 37(3): 277-285.FU Shengpeng, ZHAO Jibin, XIA Renbo, et al. Annular mirror based extrinsic camera automatic calibration [J]. Robot, 2015, 37(3): 277-285. (in Chinese)

PDF(3089 KB)

Accesses

Citation

Detail

段落导航

收稿日期	出版日期
2015-05-15	2016-06-15
发布日期
2016-06-15

选择文件类型/文献管理软件名称

选择包含的内容

摘要

Abstract

关键词

Key words

引用本文

{{custom_sec.title}}

{{custom_sec.title}}

参考文献

访问统计

模态框（Modal）标题

选择文件类型/文献管理软件名称

选择包含的内容

摘要

Abstract

关键词

Key words

引用本文

{{custom_sec.title}}

{{custom_sec.title}}

参考文献

访问统计