机器人视觉 课件7-Robot Vison-3-EdgeDetection

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1、1RobotVision–EdgeDetection&7Segmentation2012/9/9ROBOTVISIONHuang-NanHuang2012/9/92012AutumnYUVandRGBconversionIncreaseilluminace32012/9/942012/9/9
RGBtransformtoYUV
RGBtransformtoYUVY0.2990.5780.114RY0.2990.5780.114Rc+U=−0.147−0.289

2、0.436Gc+U=−0.147−0.2890.436GV0.615−0.5140.101Bc+V0.615−0.5140.101B0.2990.5780.114R0.2990.5780.114c=−0.147−0.2890.436G+−0.147−0.2890.436c0.615−0.5140.101B0.615−0.5140.101c
YUVtransformtoR

3、GB0.2990.5780.114RcR10.00271.1405Y=−0.147−0.2890.436G+0G=1−0.3960−0.5808U0.615−0.5140.101B0B12.0320−0.0005VSameforRGBtransformtoYCrCb,(YUV)’SubsamplingOutline52012/9/962012/9/9
SpatialDerivatives
Gab

4、orFilter
KamanFilter
FidelityCriteria
EdgedetectionSpatialDerivative72012/9/982012/9/9
asasharpeningfilterwithusingfirstandsecondorderderivatives(approximatedbybackward,central,forwardfinitedifferenceformulas,Δ=1)st
1:,(,)≈,−−1,,+1,−,,

5、nd,,,
2:≈,+1,−2,+−1,,,,(,)
Effectoffiltering:
1’st:athickeredge.MaskImplementationforcentraldifference
2’nd:athinlines,points.(finedetail)000≈−0.500.5000000≈1−21000SpatialDerivativesDifferenceFilter92

6、012/9/9102012/9/9FirstSecondIsotropicFilter112012/9/9122012/9/9
Itisrotationinvariant,independentofdirectionof
DigitalLaplacianusingneighborhood:thediscontinuitiesintheimage.
≈+1,−2,+−1,,
Thesimplestisotropicderivativeoperatoristhe
≈,+1

7、−2,+,−1,Laplacianof(,):Δ=+
Δ,=[+1,+−1,+
Becausederivativesofanyorderarelinearoperations,theLaplacianisa“linear”operator.,−1+,+1]−4,MaskImplementationforLaplacianfilter010Δ≈1−41010Maskimplementation132012/9/9142012/9/9MaskImplementat

8、ion152012/9/9162012/9/9Laplacianfilter010Δ≈1−41010
Anisotropicresultfor45canbeobtainedbyaddingtwomoreterms(−1,−1),(+1,+1)and(+1,−1),(−1,+1)toΔFiltersofLaplacianType2012/9/9182012/