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一种实时鲁棒的直线提取技术.docx

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一种实时鲁棒的直线提取技术 Abstract: Lineextractionisafundamentaltaskincomputervisionandrobotnavigation.Inthispaper,weproposeareal-timeandrobustlineextractiontechniquethatcanhandlevarioustypesofimagenoiseandclutter.Theproposedtechniqueconsistsofthreemainsteps:pre-processing,linecandidategeneration,andlinerefinement.Weevaluateourtechniqueondifferentdatasetsandcompareitwithstate-of-the-artmethods.Theresultsshowthatourmethodachieveshigheraccuracywithafasterprocessingtime. Introduction: Extractinglinesfromimagesisacrucialtaskinmanycomputervisionandroboticsapplications.Forexample,inautonomousnavigation,robotsneedtoidentifythelinesontheroadtocontroltheirmotion.Lineextractioncanalsobeusedinobjectrecognition,wherelinesareusedtodescribetheshapeofanobject.However,lineextractionfromimagesischallengingduetovarioustypesofnoiseandclutter. Therearemanytechniquesforlineextraction,suchasHoughtransform,edgedetection,andtemplatematching.However,thesetechniquessufferfromvariouslimitationssuchassensitivitytonoise,lossofdetail,andhighcomputationalcost.Moreover,thesetechniquesmaynotbesuitableforreal-timeapplications. Toaddressthesechallenges,weproposeareal-timeandrobustlineextractiontechniquethatcanhandlevarioustypesofimagenoiseandclutter.Theproposedtechniqueconsistsofthreemainsteps:pre-processing,linecandidategeneration,andlinerefinement.Inthepre-processingstep,weapplyanoisereductionfiltertotheinputimagetoremovethenoiseandenhancetheedgedetails.Inthelinecandidategenerationstep,weapplyalinesegmentdetectortodetectthelinesegmentsinthepre-processedimage.Finally,inthelinerefinementstep,weapplyaclusteringalgorithmtogroupthedetectedlinesegmentsintocoherentlines. ProposedTechnique: Pre-processing: Theinputimageisfirstpre-processedtoenhanceitsedgedetailsandremovethenoise.WeuseaGaussianfiltertosmooththeimageandsuppressthenoise.Wethenapplyahigh-passfiltertoenhancetheedgedetails.Thehigh-passfilterisimplementedbysubtractingtheGaussian-smoothedimagefromtheoriginalimage.Finally,weapplyathresholdtoobtainabinaryedgema