CN102495026A - Acquiring method of optical zone central line used in linear laser scanning vision measurement system - Google Patents
Acquiring method of optical zone central line used in linear laser scanning vision measurement system Download PDFInfo
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Abstract
The invention discloses an acquiring method of an optical zone central line used in a linear laser scanning vision measurement system. According to the invention, with a CCD camera, original optical zone grey-level bitmaps are obtained, optical zone contours are obtained, and are divided into outer contours and subordinate inner contours; the contours are stored in a tree-form chain-list structure according to an anticlockwise ranking method; it is determined that whether an outer contour has a subordinate inner contour; if an outer contour has a subordinate inner contour, the subordinate inner contour is subject to optical zone profile polygonal representation; if not, the outer contour is subject to optical zone profile polygonal representation; all the optical zone contours C are traversed based on the tree-form chain-list structure, and the optical zone contours C with the optical zone profile polygonal representations are marked as feature contours; two adjacent points in the optical zone profile polygons are arbitrarily selected, and a scanning line is determined by the two points; a sub-pixel coordinate of the center of the optical zone is acquired on the scanning line; all points on the feature contours are traversed, such that a complete optical zone central line sub-pixel coordinate is obtained. The method is simple. With the method, the amount of adjustable parameters is small, and the automation degree is high.
Description
Technical field
The present invention relates to the light belt center line and extract the field, particularly a kind of light belt center line extraction method that is used for line laser scanning vision measurement system.
Background technology
Vision measurement system based on line-structured light scanning generally produces the line-structured light plane by LASER Light Source; Modulated by the depth information at optical cross-section place after inciding the object under test surface, form the light belt bitmap with the laser instrument CCD camera receiving scattered light signal of placing that forms an angle.Light belt deformation information countable entity body from the bitmap is aided with the whole numberization that scanister can be realized the 3D object again when the digitizing profile of starting section.Theoretically, the line-structured light plane should be unlimited thin plate, but always there is certain thickness on the actual light plane, so the extraction of light belt center line is the key link in the line-structured light measuring system.
In recent years, the light belt center line extraction method has obtained bigger progress, has delivered a considerable amount of papers.The subject matter of at present existing light belt center line extraction method is that real-time can not meet the demands; Particularly, need the above processing speed of per second 30 framing bit figure could solve the demanding problem of real-time in the practical applications for the multisensor syste of multi-laser and CCD camera composition; Adaptive ability is not strong, and when the light belt striped curvature of collection and cross-sectional width changed greatly, it was the assurance that improves the center line precision that scored curved transition of adaptive optical and xsect change.
Address the above problem the curved transition that topmost approach is the self-adaptation light belt.Document " based on the research of the laser light knife picture centre method for distilling of nurbs curve interpolation " (Sui Liansheng; Li Bing etc. Chinese laser; 2003; 30 (10): 933-937) adopt fixing line scanning mode to carry out the light belt center line and extract, the curved transition of this scan mode hypothesis light belt is little and perpendicular to the capable direction of bitmap.But it is big and when big, occur data disappearance or wrong situation easily with the angle of scan line when curved transition.The method of calculating the light belt curved transition at present mainly contains following several kinds: (1) direction template method document " based on the structural light stripes center detection method of direction template " (Hu Bin; Li Dehua etc. computer engineering and application, 2002 (11): 59-60) confirm the direction of light belt xsect through the direction-changeable template that defines a plurality of fixed sizes; (2) Hessian matrix method document " An unbiased detector of curvilinear structures " (Steger; C.IEEE Transactions on Pattern Analysis and machine Intelligence, 1998,20 (2): 113-125) propose the direction that the Hessian matrix method calculates the light belt xsect; And document " a kind of quick structural light stripes center sub-pixel precision method for distilling " (Hu Kun; Zhou Fuqiang etc., Chinese journal of scientific instrument, 2006; 27 (10): 1326-1329) the large form convolution algorithm is applied in the Steger method, to improve algorithm speed; (3) gray scale is extracted method of approximation document " sub-pix at striation center extracts the shade of gray method of approximation in the light cross-section method topography measurement " (Jia Qian; Wang Baixiong etc. optical precision engineering, 201018 (2): 390-396) propose the direction that the shade of gray method of approximation is calculated the light belt xsect.This external adaptive algorithm aspect; Document " extract at the structural light stripes center based on the adaptive windows curve fitting " (Liu Tao, Wang Zongyi etc. semiconductor optoelectronic, 2010; 31 (1): 151-154) and the document (Gao Shiyi that " becomes the research that the margin Gauss curve fitting is extracted the laser stripe centerline approach "; Yang Kaizhen. Chinese journal of scientific instrument, 2011,32 (5): 1132-1137) propose the approximating method of adaptive windows and variable margin respectively.
The inventor finds to exist at least in the prior art following shortcoming and defect in realizing process of the present invention:
At present, the light belt center line extraction method still ubiquity operation time long and adaptive ability difference deficiency.Handle a framing bit figure like Hu Kun etc. based on the method time spent 200ms of Hessian matrix, and the shade of gray method of approximation time spent 354ms that Jia Qianqian proposes accomplishes the extraction at light belt center, be difficult to realize that real-time light belt handles.When the light belt cross-sectional width changed greatly, the useful information how self-adaptation makes full use of on the light belt xsect also was worth further investigation.Particularly in the multisensor vision measurement system, real-time and adaptive ability are the key issues in the practical application.
Summary of the invention
The invention provides a kind of light belt center line extraction method that is used for line laser scanning vision measurement system, this scheme has realized real-time and adaptive the light belt center line being extracted, and sees hereinafter for details and describes:
A kind of light belt center line extraction method that is used for line laser scanning vision measurement system said method comprising the steps of:
(1) through the CCD camera obtain original light belt gray bitmap f (x, y), (x y) obtains light belt outline line C, said light belt outline line C is divided into the inner outline of outer contour and subordinate according to said original light belt gray bitmap f;
(2) inner outline with said outer contour and said subordinate is stored as tree-like list structure by counterclockwise sortord;
(3) judge whether said outer contour has the inner outline of said subordinate,, the inner outline of said subordinate is carried out the light belt outline polygon represent if having; If not, said outer contour is carried out the light belt outline polygon represent, based on said tree-like all light belt outline line C of list structure traversal, the light belt outline line C that will have said light belt outline polygon to represent is designated as the feature contour line;
(4) in said light belt outline polygon, select 2 adjacent p arbitrarily
jAnd p
J+1, through said 2 p
jAnd p
J+1Confirm sweep trace, on said sweep trace, obtain the sub-pix coordinate at light belt center, travel through on the said feature contour line have a few, obtain complete light belt center line sub-pix coordinate.
In the step (1) said according to said original light belt gray bitmap f (x, y) obtain light belt outline line C and be specially:
(x is y) with gray threshold g according to said original light belt gray bitmap f
ThGeneration binary image BW (x, y);
Said binary image
BW (x, y)=0 the expression background is called for short the 0-pixel, BW (x, y)=1 display berth is called for short the 1-pixel, and (x obtains the 1-pixel of 0-pixel and 1-pixel boundary in y), obtains said light belt outline line C according to the 1-pixel at said binary image BW.
Said light belt outline polygon is specially:
Selected element constitutes said light belt outline polygon on the inner outline of said subordinate or said outer contour, and other distance of putting said light belt outline polygon on the inner outline of said subordinate or the said outer contour is less than distance threshold d
Th
The said inner outline that said light belt outline line C is divided into outer contour and subordinate is specially:
According to the position relation, outermost outline line is said outer contour, and is inner at said outer contour, and is close to said outer contour, and the outline line that pixel value from 1 to 0 changes is defined as the subordinate inner outline of said outer contour; Inner at inner outline, and be close to said inner outline, the outline line that pixel value from 0 to 1 changes is defined as new outer contour.
Said through said 2 p in the step (4)
jAnd p
J+1Confirm sweep trace, the sub-pix coordinate that on said sweep trace, obtains the light belt center is specially:
Through said 2 p
jAnd p
J+1Confirm one section light belt L
j, with a p
jBe initial point, coordinate axis is parallel to the bitmap coordinate axis and sets up local coordinate system
According to said some p
J+1Said
In the position, the said light belt L of mark
jSequence number
Value be 0-7;
With said light belt L
jCross section taken in correspondence upper tracer direction sequence number do
By relational expression
Confirm
Value, mod representes modulo operation,
Value be 0-7,
Corresponding one by one with scan-line direction n;
Q sets up an office
kBe said p
jWith said p
J+1Limit on the light belt outline line more arbitrarily, with a q
kBeing starting point, is that direction vector is confirmed sweep trace l with n
Qk
At said sweep trace l
QkOn obtain the sub-pix coordinate (x at said light belt center
Cen, y
Cen).
Said sub-pix coordinate (x
Cen, y
Cen) be specially:
Wherein, q
mBe said sweep trace l
QkOn pixel,
With
Be a q
mPixel coordinate,
Be q
mGray-scale value, and greater than said gray threshold g
Th
The beneficial effect of technical scheme provided by the invention is:
The invention provides a kind of light belt center line extraction method that is used for line laser scanning vision measurement system; Biggest advantage of the present invention is that travelling speed is fast; For 640 * 480 pixel resolutions commonly used, the bitmap of 256 grades of gray scales, light belt center extraction rate can reach for 30 frame/seconds; Secondly, the method that the present invention proposes is owing to adopt self-adaptation grey scale centre of gravity method, and precision can reach sub-pix (0.1 pixel precision) level; In addition, the method that the present invention proposes has the advantage that algorithm is simple, adjustable parameter is few, automaticity is high and be easy to realize, can obtain the three-dimensional surface digitizing outline data in real time.
Description of drawings
Fig. 1 is the structural representation of people's pin surface profile digital experiment platform provided by the invention;
Fig. 2 (a) and Fig. 2 (b) are the typical light belt gray bitmap that experiment porch provided by the invention is gathered;
Fig. 3 (a) and Fig. 3 (b) are the binaryzation enlarged drawing as a result of light belt gray bitmap provided by the invention;
Fig. 4 (a) and Fig. 4 (b) are the synoptic diagram of the light belt outline line that extracts provided by the invention;
The synoptic diagram that Fig. 5 (a) and Fig. 5 (b) represent for the polygon of light belt outline line provided by the invention;
Fig. 6 is the synoptic diagram of calculating scan-line direction provided by the invention;
Fig. 7 is the synoptic diagram of local coordinate system 8 five equilibriums provided by the invention and sequence number labeling method;
Fig. 8 (a) and Fig. 8 (b) be provided by the invention shown in the light belt center line extract result's synoptic diagram;
The synoptic diagram of Fig. 9 (a) and Fig. 9 (b) people pin model surface profile digitized result;
Figure 10 is a kind of process flow diagram that is used for the light belt center line extraction method of line laser scanning vision measurement system provided by the invention.
Embodiment
For making the object of the invention, technical scheme and advantage clearer, embodiment of the present invention is done to describe in detail further below in conjunction with accompanying drawing.
In order to realize real-time and adaptive the light belt center line being extracted, the embodiment of the invention provides a kind of light belt center line extraction method that is used for line laser scanning vision measurement system, referring to Fig. 1, sees hereinafter for details and describes:
101: (x, y), (x is y) with gray threshold g according to original light belt gray bitmap f to obtain original light belt gray bitmap f through the CCD camera
ThGeneration binary image BW (x, y);
Wherein, (x, GTG y) are m to original light belt gray bitmap f, promptly have 2
mIndividual gray shade scale, wherein, m and gray threshold g
ThValue set according to the needs in the practical application, when specifically realizing, the embodiment of the invention does not limit this.
102: (x obtains the 1-pixel of 0-pixel and 1-pixel boundary in y), obtains light belt outline line C according to the 1-pixel at binary image BW;
Wherein, the sequence that is made up of the 1-pixel promptly is light belt outline line C.
103: the inner outline that light belt outline line C is divided into outer contour and subordinate;
Wherein, this step is specially: according to the position relation, outermost outline line is an outer contour, and is inner at outer contour, and is close to this outer contour, and the outline line that pixel value from 1 to 0 changes is defined as the subordinate inner outline of this outer contour; Inner at inner outline, and be close to this inner outline, the outline line that pixel value from 0 to 1 changes is defined as new outer contour.According to said method travel through all outline lines, be divided into the inner outline of outer contour and subordinate.
104: the inner outline of outer contour and subordinate is stored as tree-like list structure by counterclockwise sortord;
105: judge whether outer contour has the inner outline of subordinate,, the inner outline of subordinate is carried out the light belt outline polygon represent if having; If not, outer contour is carried out the light belt outline polygon represent, based on tree-like all light belt outline line C of list structure traversal, the light belt outline line C that will have the light belt outline polygon to represent is designated as the feature contour line;
Wherein, the light belt outline polygon is specially: selected element constitutes the light belt outline polygon on the inner outline of subordinate or outer contour, and the inner outline of subordinate or other distance of putting the light belt outline polygon on the outer contour are less than distance threshold d
Th
Wherein, distance threshold d
ThValue set according to the needs in the practical application, when specifically realizing, the embodiment of the invention does not limit this.
106: in light belt outline polygon P, select 2 adjacent p arbitrarily
jAnd p
J+1, through 2 p
jAnd p
J+1Confirm one section light belt L
j
107: with a p
jBe initial point, coordinate axis is parallel to the bitmap coordinate axis and sets up local coordinate system
Wherein, This step is specially: with separated time in 4 coordinate axis (positive and negative X axle and positive and negative Y axle) and 4 coordinate axis is that center line is with
five equilibrium; Positive X axle place subregion marking serial numbers 0, other subregion is distinguished marking serial numbers 1-7 in the direction of the clock.
108: according to a p
J+1At local coordinate system
In the position, mark light belt L
jSequence number
Value be 0-7;
109: with light belt L
jCross section taken in correspondence upper tracer direction sequence number do
Obtain
And sequence number
Between relational expression;
Wherein, according to the counterclockwise order characteristic and the local coordinate system subregion sequence number mark characteristics of outline line, establish and light belt L
jCross section taken in correspondence upper tracer direction sequence number do
Then
With
Following relation is arranged
110: q sets up an office
kBe p
jAnd p
J+1Limit on the light belt outline line more arbitrarily, with a q
kBeing starting point, is that direction vector is confirmed sweep trace l with n
Qk
111: at sweep trace l
QkOn obtain the sub-pix coordinate (x at light belt center
Cen, y
Cen);
Wherein, q
mBe gray bitmap f (x, y) sweep trace l
QkOn pixel,
With
Be a q
mPixel coordinate,
Expression q
mGray-scale value, need greater than gray threshold g
Th
112: on the traversal feature contour line have a few, try to achieve complete light belt center line sub-pix coordinate.
Verify a kind of feasibility that is used for the light belt center line extraction method of line laser scanning vision measurement system that the embodiment of the invention provides with a concrete experiment below, see hereinafter for details and describe:
The structural representation of general line laser scanning vision measurement system in the prior art that Fig. 1 provides for the embodiment of the invention, Fig. 1 (a) is a vertical view, Fig. 1 (b) is a upward view.(line laser of laser1～laser3) send forms an optical plane around people's pin to be measured, and ((laser1～laser3) becomes equal angles for the optical axis of CCD0～CCD5) and laser line generator for 6 CCD cameras for 3 laser line generators.6 CCD cameras receive the distortion light belt from people's pin to be measured surface scattering.Laser line generator (laser1～laser3) under step motor drive, realize fast digitalization to people's pin to be measured surface with 6 CCD cameras.Fig. 2 (a) and Fig. 2 (b) use the typical light belt bitmap that this line laser scanning vision measurement system obtains, and resolution is 640 * 480 pixels, 256 gray shade scales, i.e. and GTG m=8, frame frequency was 30 frame/seconds.Begin from bitmap shown in Fig. 2 (a) and Fig. 2 (b) below, introduce the implementation process that light belt center line sub-pix extracts in detail.
1, light belt outline line polygon is represented implementation step
Line laser scanning vision measurement system shown in Figure 1 need be avoided the interference of parasitic light and be operated under the dark room conditions.Before formal scan digitizing, can confirm suitable gray threshold g through experimental technique to testee
Th, in the digitized process afterwards,, therefore need not to change again g because working environment is constant
Th, select g in the embodiment of the invention
ThThe light belt gray bitmap of=60 couples of Fig. 2 (a) and Fig. 2 (b) carries out binaryzation, and the result is shown in Fig. 3 (a) and Fig. 3 (b), and is clear for what show, and the light belt gray bitmap has been carried out the cutting processing and amplifying.
For binary image BW (x, y) in extraction and the polygon of light belt outline line C represent that the embodiment of the invention is selected special-purpose function cvFindContours () and the direct acquisition of cvApproxPoly () in the OpenCV storehouse for use.For cvFindContours () function, need not to be provided with any parameter, and function cvApproxPoly () only need be provided with distance threshold d
Th, as selected suitable d
ThAfterwards, need not repeatedly setting, the distance threshold d that selects in the embodiment of the invention
Th=2.Fig. 4 is (x, y) the light belt outline line C of correspondence of binary image BW shown in Fig. 2 (a) and Fig. 2 (b).The outline line that is labeled as o among outline line among Fig. 4 (a) and Fig. 4 (b) is called outer contour, and the outline line that is labeled as i among Fig. 4 (b) is called inner outline.Fig. 5 (a) and Fig. 5 (b) are respectively the polygon ecbatics of Fig. 4 (a) and Fig. 4 (b) outline line, the outer contour shown in Fig. 4 (a) is carried out polygon represent; For the inside and outside outline line shown in Fig. 4 (b), only wherein inner outline is carried out polygon and represent that asterisk (*) expression polygon vertex also is the summit on the outline line simultaneously.
2, the scan-line direction v of light belt xsect is calculated in segmentation
ScanImplementation step
With reference to figure 6, on light belt outline polygon P, select adjacent summit p arbitrarily
j, coordinate is (x
j, y
j) and summit p
J+1, coordinate is (x
J+1, y
J+1), one section light belt has promptly been confirmed on these two summits, is designated as L
jWith summit p
jBe initial point, coordinate axis is parallel to the bitmap coordinate axis and sets up local coordinate system
With reference to figure 7,
In be that center line will with the middle separated time of 4 coordinate axis (positive and negative X axle, positive and negative Y axle) and 4 coordinate axis
8 five equilibriums, positive X axle place subregion marking serial numbers 0, other subregion is distinguished marking serial numbers 1-7 in the direction of the clock.Summit p
J+1 
In coordinate be v=(dx, dy)=(x
J+1-x
j, y
J+1-y
j), according to (dx dy) can mark light belt L
jSequence number
Sequence number like v in Fig. 7 is 1, L in the corresponding diagram 6
jSequence number
According to the counterclockwise order characteristic and the local coordinate system subregion sequence number mark characteristics of outline line, confirm light belt L
jCross section taken in correspondence upper tracer direction sequence number do
For
Be the sequence number of direction shown in the heavy line among Fig. 7, or ray l among Fig. 6
jThe direction sequence number
Be 7.
3, the grey scale centre of gravity method of self-adaptation light belt cross-sectional width variation is calculated the sub-pix coordinate
With reference to figure 6, q
kBe light belt L
iOutline line on more arbitrarily, with a q
kBe starting point, with the scan-line direction sequence number
The direction vector n of decision can confirm a flying spot l
jAt flying spot l
jOn light belt center sub-pix coordinate calculate through following formula, some s is the termination pixel.After the scan-line direction sequence number that calculates every section light belt, travel through each point on the feature contour line, can obtain the center line of whole piece light belt.Fig. 8 (a) and Fig. 8 (b) are the corresponding center line image of light belt bitmap shown in Fig. 2 (a) and Fig. 2 (b).
Use the method that the embodiment of the invention provided and carry out the extraction of light belt center line, through people's pin model surface profile cloud data such as Fig. 9 (a) that scan mode obtains, always counting is 136759.In Fig. 9 (a), select typical section position 1,2 with 3 to observe the fusion situation of different CCD camera institute invocation point cloud on the cross section; The result is shown in 1,2 and 3 among Fig. 9 (b); The data that different CCD cameras obtain are represented with different colours; It is thus clear that it is fine that the some cloud that different CCD cameras obtain merges, income earner's pin point cloud model can satisfy the requirement of subsequent applications fully.
In sum; The embodiment of the invention provides a kind of light belt center line extraction method that is used for line laser scanning vision measurement system; Embodiment of the invention biggest advantage is that travelling speed is fast; For 640 * 480 pixel resolutions commonly used, the bitmap of 256 grades of gray scales, light belt center extraction rate can reach for 30 frame/seconds; Secondly, the method that the embodiment of the invention proposes is owing to adopt self-adaptation grey scale centre of gravity method, and precision can reach sub-pix (0.1 pixel precision) level; In addition, the method that the embodiment of the invention proposes has the advantage that algorithm is simple, adjustable parameter is few, automaticity is high and be easy to realize, can obtain the three-dimensional surface digitizing outline data in real time.
It will be appreciated by those skilled in the art that accompanying drawing is the synoptic diagram of a preferred embodiment, the invention described above embodiment sequence number is not represented the quality of embodiment just to description.
The above is merely preferred embodiment of the present invention, and is in order to restriction the present invention, not all within spirit of the present invention and principle, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. a light belt center line extraction method that is used for line laser scanning vision measurement system is characterized in that, said method comprising the steps of:
(1) through the CCD camera obtain original light belt gray bitmap f (x, y), (x y) obtains light belt outline line C, said light belt outline line C is divided into the inner outline of outer contour and subordinate according to said original light belt gray bitmap f;
(2) inner outline with said outer contour and said subordinate is stored as tree-like list structure by counterclockwise sortord;
(3) judge whether said outer contour has the inner outline of said subordinate,, the inner outline of said subordinate is carried out the light belt outline polygon represent if having; If not, said outer contour is carried out the light belt outline polygon represent, based on said tree-like all light belt outline line C of list structure traversal, the light belt outline line C that will have said light belt outline polygon to represent is designated as the feature contour line;
(4) in said light belt outline polygon, select 2 adjacent p arbitrarily
jAnd p
J+1, through said 2 p
jAnd p
J+1Confirm sweep trace, on said sweep trace, obtain the sub-pix coordinate at light belt center, travel through on the said feature contour line have a few, obtain complete light belt center line sub-pix coordinate.
2. a kind of light belt center line extraction method that is used for line laser scanning vision measurement system according to claim 1 is characterized in that, in the step (1) said according to said original light belt gray bitmap f (x, y) obtain light belt outline line C and be specially:
(x is y) with gray threshold g according to said original light belt gray bitmap f
ThGeneration binary image BW (x, y);
Said binary image
BW (x, y)=0 the expression background is called for short the 0-pixel, BW (x, y)=1 display berth is called for short the 1-pixel, and (x obtains the 1-pixel of 0-pixel and 1-pixel boundary in y), obtains said light belt outline line C according to the 1-pixel at said binary image BW.
3. a kind of light belt center line extraction method that is used for line laser scanning vision measurement system according to claim 1 is characterized in that said light belt outline polygon is specially:
Selected element constitutes said light belt outline polygon on the inner outline of said subordinate or said outer contour, and other distance of putting said light belt outline polygon on the inner outline of said subordinate or the said outer contour is less than distance threshold d
Th
4. a kind of light belt center line extraction method that is used for line laser scanning vision measurement system according to claim 1 is characterized in that the said inner outline that said light belt outline line C is divided into outer contour and subordinate is specially:
According to the position relation, outermost outline line is said outer contour, and is inner at said outer contour, and is close to said outer contour, and the outline line that pixel value from 1 to 0 changes is defined as the subordinate inner outline of said outer contour; Inner at inner outline, and be close to said inner outline, the outline line that pixel value from 0 to 1 changes is defined as new outer contour.
5. a kind of light belt center line extraction method that is used for line laser scanning vision measurement system according to claim 2 is characterized in that, said through said 2 p in the step (4)
jAnd p
J+1Confirm sweep trace, the sub-pix coordinate that on said sweep trace, obtains the light belt center is specially:
Through said 2 p
jAnd p
J+1Confirm one section light belt L
j, with a p
jBe initial point, coordinate axis is parallel to the bitmap coordinate axis and sets up local coordinate system
According to said some p
J+1Said
In the position, the said light belt L of mark
jSequence number
Value be 0-7;
With said light belt L
jCross section taken in correspondence upper tracer direction sequence number do
By relational expression
Confirm
Value, mod representes modulo operation,
Value be 0-7,
Corresponding one by one with scan-line direction n;
Q sets up an office
kBe said p
jWith said p
J+1Limit on the light belt outline line more arbitrarily, with a q
kBeing starting point, is that direction vector is confirmed sweep trace l with n
Qk
At said sweep trace l
QkOn obtain the sub-pix coordinate (x at said light belt center
Cen, y
Cen).
6. a kind of light belt center line extraction method that is used for line laser scanning vision measurement system according to claim 5 is characterized in that said sub-pix coordinate (x
Cen, y
Cen) be specially:
Wherein, q
mBe said sweep trace l
QkOn pixel,
With
Be a q
mPixel coordinate,
Be q
mGray-scale value, and greater than said gray threshold g
Th
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