农业机械学报2017，Vol.48Issue(10)：15-24,10.DOI:10.6041/j.issn.1000-1298.2017.10.002
复杂光照条件下视觉导引AGV路径提取方法
Path Extraction Method of Vision-guided AGV under Complex Illumination Conditions
摘要
Abstract
An adaptive image illumination partitioning and threshold segmentation approach based on a model of illumination and color was proposed for path extraction in the field of view for a vision-guided AGV under complex illumination conditions.Firstly,the relation between light illumination and image brightness was analyzed,and the correlation model of illumination and color was built by measuring color distribution with respect to different illuminations in images under complex illumination conditions.Secondly,the image of a guide path was partitioned into different illumination regions according to the model of illumination and color.Then the image of low-illumination region was enhanced in the space of RGB color to retrieve the color information of the guide path,and the image of high-illumination region was processed by differentiating chrominance components of Cb and Cr to suppress the common-mode luminance interference.Finally,an adaptive threshold segmentation method was performed for different illumination regions.A large number of experimental results showed that this path extraction approach had high adaptability to complex illumination when recognizing the guide path in the vision field with both high-reflective and dark-shadow regions caused by the environment illumination,and it achieved the recognition accuracy of 98％ owing to decreasing the errors of under-segmentation and over-segmentation in high-reflective and dark-shadow regions significantly.关键词
视觉导引/路径提取/图像处理/阈值分割/光照色彩模型Key words
vision guidance/path extraction/image processing/threshold segmentation/illumination color model分类
信息技术与安全科学引用本文复制引用
武星,张颖,李林慧,楼佩煌,何珍..复杂光照条件下视觉导引AGV路径提取方法[J].农业机械学报,2017,48(10):15-24,10.基金项目
国家自然科学基金项目(61105114)、中国博士后科学基金项目(2015M580421)、江苏省科技支撑计划项目(BE2014137)、江苏省博士后科研计划项目(1501103C)、江苏省产学研前瞻性联合研究项目(BY2015003-11)和中央高校基本科研业务费项目(NS2016050) （61105114）
