CN103148881A - Method and device for automatically reading pointer instrument by video frequency - Google Patents

Abstract

The invention discloses a method and a device for automatically reading a pointer instrument by video frequency. The method comprises the following steps of: obtaining an initial scale point and a stop scale point from an effective region of an input image calibration dial plate, and recording an initial position scale value and a stop position scale value; detecting all line segments within the effective region of the dial plate; setting rule parameters, selecting the detected line segments in a regularization way, and filtering out a meter needle; and reading the scale appointed by the meter needle by a corresponding algorithm according to the type of the dial plate, and obtaining the reading number. After the invention is adopted, a plurality of needle targets can be quickly and exactly detected, any pre-estimation treatments (such as colors, positions and the like of the needle dial plate) are not needed, and high in accuracy rate.

Description

Utilize video automatically pointer instrument to be carried out method and the device of reading

Technical field

The present invention relates to the dial plate detection technique, particularly relate to and utilize video automatically pointer instrument to be carried out method and the device of reading.

Background technology

In the transformer station of electric system, instrument is commonly used and plays a significant role in guaranteeing system safety operation, wherein is no lack of the pointer instrument that has quantity a lot of, and the remote collection of the reading of pointer instrument has been failed comparatively comprehensively way always.

Existing technology mainly contains a kind of instrument monitoring method based on contour of object, a kind of readings of pointer type meters method based on the scale question blank etc.Before a kind of basic scheme of method be overhead control end computer based in the long-range table detection/read module that has circle/ellipse based on contour of object/rectangular search, detection algorithm, control crusing robot in transformer station by WLAN (wireless local area network), according to the predefined route of patrolling and examining, lock the locus of instrument by search subroutine in the search volume scope of setting, then utilize the visible image capturing head to obtain the instrument several picture, beam back the overhead control end by WLAN (wireless local area network) and carry out the purpose that data process to reach remote monitoring.The method need to accurately be controlled the accurate location of crusing robot, guaranteeing the accuracy of image acquisition, the searching of dial plate is not had robustness.A kind of rear method forms database by setting up the scale question blank of different instrument; The acquisition instrument image, the input Instrument image also carries out pre-service to it, to extract effective identified region of instrument dial plate; From effective identified region of instrument dial plate, utilize pointer and scale mark stroke feature, extract pointer and the scale mark of instrument; According to the pointer and the scale mark that extract, scale question blank corresponding in the scale mark that extracts and scale lookup table database is mated, carry out reading and automatically identify.The method has certain improvement with respect to a kind of front method, but this method can only be adapted to fixedly control point, and the searching of dial plate is not had robustness, especially will set up loaded down with trivial details database, and the previous work amount is very large.

Summary of the invention

Based on this, be necessary for the problems referred to above, provide a kind of relating to utilize video automatically pointer instrument to be carried out method and the device of reading, number reading method that can the better pointer instrument of adaptive faculty, insensitive to environmental change, robustness is stronger, and the early stage pre-service more simple.

A kind of relating to, utilize video automatically pointer instrument to be carried out the method for reading, comprising:

From the effective coverage of image calibration dial plate of input, obtain the start index point, stop calibration points, record start position scale value, final position scale value;

Detect all line segments in the described effective coverage of dial plate;

Parameter of regularity is set, the line segment after detecting is carried out regularization select, filter out gauge pointer;

According to the type of dial plate, adopt corresponding algorithm to read described gauge pointer scale pointed, obtain reading.

Correspondingly, a kind of relating to, utilize video automatically pointer instrument to be carried out the device of reading, comprising:

Image indicates the unit, is used for from the effective coverage of the image calibration dial plate of input, obtains the start index point, stops calibration points, record start position scale value, final position scale value;

Indicate with described image the line segment detecting unit that the unit is connected, be used for detecting all line segments in the described effective coverage of dial plate;

The pointer filter element that is connected with described line segment detecting unit is used for arranging parameter of regularity, the line segment after detecting is carried out regularization select, and filters out gauge pointer;

The computing reading unit that is connected with described pointer filter element is used for the type according to dial plate, adopts corresponding algorithm to read described gauge pointer scale pointed, obtains reading.

Implement the present invention, have following beneficial effect:

The present invention only needs rough calibration scale disk area, just can detect fast and accurately a plurality of pointer targets, need not any pre-estimation and processes (as the color of pointer watch dial, position etc.), and accuracy rate is high.According to given scaling method, can form general dial scale and detect, also need not to set up the meter dial database.And, insensitive to environmental change, robustness is better.Inner parameter arranges less, and versatility is stronger.

Description of drawings

Fig. 1 is that the present invention utilizes video automatically pointer instrument to be carried out the process flow diagram of the method for reading;

Fig. 2 is that the present invention utilizes video automatically pointer instrument to be carried out the disk identification embodiment process flow diagram of the method for reading;

Fig. 3 is that the present invention utilizes video automatically pointer instrument to be carried out the square plate identification embodiment process flow diagram of the method for reading;

Fig. 4 is that the present invention utilizes video automatically pointer instrument to be carried out the schematic diagram of the device of reading;

Fig. 5 is that the present invention utilizes video automatically pointer instrument to be carried out the embodiment schematic diagram of the device of reading.

Embodiment

For making the purpose, technical solutions and advantages of the present invention clearer, the present invention is described in further detail below in conjunction with accompanying drawing.

Fig. 1 is that the present invention utilizes video automatically pointer instrument to be carried out the process flow diagram of the method for reading, comprising:

S101: from the effective coverage of image calibration dial plate of input, obtain the start index point, stop calibration points, record start position scale value, final position scale value;

S102: detect all line segments in the described effective coverage of dial plate;

S103: parameter of regularity is set, the line segment after detecting is carried out regularization select, filter out gauge pointer;

S104: according to the type of dial plate, adopt corresponding algorithm to read described gauge pointer scale pointed, obtain reading.

The invention provides a kind of more simple and intelligent scale marker algorithm automatically, effectively the dial plate zone only needs can identify and identify by the algorithm that this method provides by simple initial the sign.Can automatically adapt to the physical contours of various dial plates and adopt corresponding algorithm, corresponding reading is identified and calculated to the current location of pointer, and need not to set up in advance the meter dial database.

The method only needs rough calibration scale disk area, just can detect fast and accurately a plurality of pointer targets, need not any pre-estimation and processes (as the color of pointer watch dial, position etc.), and accuracy rate is high.According to given scaling method, can form general dial scale and detect, also need not to set up the meter dial database.And, insensitive to environmental change, robustness is better.Inner parameter arranges less, and versatility is stronger.

In the middle of embodiment, detect the step of all line segments in the described effective coverage of dial plate therein, comprising:

Gaussian smoothing is carried out in described effective coverage, obtain smoothed image;

Calculate gradient and the edge line angle of described smoothed image;

Set up search listing, the gradient magnitude of each point is rendered to the position coordinates of this point in corresponding BIN to little order by large;

Set up the assistant images that is used for the blotter identification information, gradient magnitude is used less than being set to of θ, other are not set to and use, wherein,

Q is the pixel quantified precision, and τ is the similar angle precision in edge;

Begin search by the pixel in search listing, search rule is, in BIN from the Grad of maximum, and be not masked as and use.

1, the his-and-hers watches disk area is carried out Gaussian smoothing, obtains smoothed image.

2, calculate gradient and the edge line angle of smoothed image.

$g_x=\frac{I(x+1,y+1)+I(x+1,y)-I(x,y)-I(x,y+1)}{2}---(2-1)$

$g_y=\frac{I(x+1,y+1)+I(x,y+1)-I(x,y)-I(x+1,y)}{2}---(2-2)$

$G=\sqrt[2]{g_x^2(x,y)+g_y^2(x,y)}---(2-3)$

$M_A=\arctan \left(\frac{g_x(x,y)}{-g_y(x,y)}\right)---(2-4)$

3, set up search listing, the gradient magnitude of each point is rendered to the position coordinates of this point in corresponding BIN to little order by large.

4, set up assistant images (template image, temporarily be used for record identification information), gradient magnitude is used less than being set to of θ, other are not set to and use.

$\mathrm{\θ}=\frac{q}{\sin \mathrm{\τ}}---(2-5)$

Wherein, q is the pixel quantified precision, and τ represents the similar angle precision in edge.

5, begin search by the pixel in search listing, search rule: in BIN from the Grad of maximum, and be not masked as and use.Particularly,

One, pixel P is set to sub pixel, region growing;

The growth rule:

(1), have a similar edge line angle, namely in the edge angle at [Pma-τ, Pma+ τ];

(2), k neighborhood growth;

(3), the successful pixel of growth is set for using.

Two, calculate center and the principal direction of the rectangular area that grows into

Rectangular centre:

$c_x=\frac{{\mathrm{\Σ}}_{j}G\left(j\right)*x\left(j\right)}{{\mathrm{\Σ}}_{j}G\left(j\right)}---(2-6)$

$c_y=\frac{{\mathrm{\Σ}}_{j}G\left(j\right)*y\left(j\right)}{{\mathrm{\Σ}}_{j}G\left(j\right)}---(2-7)$

Wherein, j changes in the rectangular area.

The principal direction of rectangle:

The construction feature matrix $\left[\begin{array}{cc}{m}^{\mathrm{xx}}& m^{\mathrm{xy}}\\ m^{\mathrm{yx}}& m^{\mathrm{yy}}\end{array}\right]---(2-8)$

$m^{\mathrm{xx}}=\frac{{\mathrm{\Σ}}_{j}G\left(j\right)*{(x\left(j\right)-c_x)}^2}{{\mathrm{\Σ}}_{j}G\left(j\right)}---(2-9)$

$m^{\mathrm{xy}}=m^{\mathrm{yx}}=\frac{{\mathrm{\Σ}}_{j}G\left(j\right)*(x\left(j\right)-c_x)*(y\left(j\right)-c_y)}{{\mathrm{\Σ}}_{j}G\left(j\right)}---(2-10)$

$m^{\mathrm{yy}}=\frac{{\mathrm{\Σ}}_{j}G\left(j\right)*{(y\left(j\right)-c_y)}^2}{{\mathrm{\Σ}}_{j}G\left(j\right)}---(2-11)$

Calculate its proper vector as the principal direction of its rectangle

Three, calculate the density of rectangle block edge angle, if density represents threshold parameter greater than threshold value D, prune the rectangular area, double counting edge angle density.

The density calculation formula:

$d=\frac{k}{\mathrm{area}\left(\mathrm{rect}\right)}---(2-12)$

Wherein, k represents the number that rectangular area inward flange angle equates with rectangular area principal direction, and area (rect) represents the area of rectangular area.

Four, calculate the rate of false alarm of edge angle in rectangular block as the checking formula

$\mathrm{NFA}\left(\mathrm{rect}\right)={\left(\mathrm{NM}\right)}^{5/2}*\mathrm{\γ}*{\mathrm{\Σ}}_{j=k}^n\left(\begin{array}{c}n\\ j\end{array}\right)p^j{(1-p)}^{n-j}---(2-13)$

Wherein,

$\left(\begin{array}{c}n\\ j\end{array}\right)=\frac{\mathrm{\Γ}(n+1)}{\mathrm{\Γ}(j+1)*\mathrm{\Γ}(n-j+1)}---(2-14)$

M, N are the high wide of image, and γ is edge angle statistics number different from principal direction in the rectangular area.

If five rate of false alarms greater than threshold value e, are pruned the rectangular area, otherwise, this rectangle line segment is added output queue.

Fig. 2 is that the present invention utilizes video automatically pointer instrument to be carried out the disk identification embodiment process flow diagram of the method for reading.

S201: from the effective coverage of image calibration dial plate of input, obtain the start index point, stop calibration points, record start position scale value, final position scale value;

S202: the perpendicular bisector that calculates described start index point and described termination calibration points;

S203: by position and the scale value of check point, calculate the position in the center of circle on perpendicular bisector.

S204: detect all line segments in the described effective coverage of dial plate;

S205: parameter of regularity is set, the line segment after detecting is carried out regularization select, filter out gauge pointer;

S206: to the pointer line segment after regularization, as slope angle kp1 – kp2 ∈ [eps ,+eps], two straight lines merge;

S207: according to the slope angle of the formation line segment in start index position and the center of circle, stop the slope angle of scale position and center of circle formation line segment, obtain the angle of pointer line segment;

S208: the computing formula by default, calculate pointer scale pointed, obtain reading.

Demarcate effective dial plate regional: circular dial plate marks out the start index point, stops calibration points, check point position (circular dial plate), and input reference position value num _b, final position scale value num _e, check point scale value (circular dial plate) adjust, the data of above all demarcation of record and input.Proofread and correct the position (circular dial plate) in the center of circle, and record.Calculate the perpendicular bisector of start index point and termination calibration points.By position and the scale value of check point, calculating the position in the center of circle on perpendicular bisector with on effective dial plate zone.

Read dial reading: effectively detecting all line segments in the dial plate zone.Parameter of regularity is set, the line segment after detecting is carried out regularization select, filter out the gauge pointer line segment.

Circular dial plate pointer filtering rule specifically comprises:

Cursor line slope over 10 angle remains on kp ∈ [kbegin – epsc, kend+epsc] between the slope angle in two-end-point and the center of circle, and epsc represents precision

The length of pointer line segment must represent multiplying power greater than the ratios of radius r, that is:

r _p＞r*ratios (3-1)

For circular dial plate, adopt following algorithm that instrument is processed:

Pointer line segment after regularization is done to merge process.

For any two straight lines, as slope angle kp1 – kp2 ∈ [eps ,+eps], two straight lines merge.Eps represents precision

By the corresponding reading of angle diagnostic method reading pointer.

The slope angle θ of the formation line segment in start index position and the center of circle _b, stop the slope angle θ that scale position and the center of circle form line segment _e, the angle θ of pointer line segment _p, pass through computing formula:

$P_{\mathrm{value}}=\frac{({\mathrm{\θ}}_p-{\mathrm{\θ}}_b)}{({\mathrm{\θ}}_e-{\mathrm{\θ}}_b)}*({\mathrm{num}}_e-{\mathrm{num}}_b)---(3-2)$

Calculate pointer scale pointed, obtain reading.

Fig. 3 is that the present invention utilizes video automatically pointer instrument to be carried out the square plate identification embodiment process flow diagram of the method for reading.

S301: from the effective coverage of image calibration dial plate of input, obtain the start index point, stop calibration points, record start position scale value, final position scale value;

S302: detect all line segments in the described effective coverage of dial plate;

S303: parameter of regularity is set, the line segment after detecting is carried out regularization select, filter out gauge pointer;

S304: the pointer line segment to regularization is done projection process, seeks dial scale regional;

S305: by dial plate zone boundary parameter, the pointer area of instrument is searched in translation downwards;

S306: described pointer area is done binary conversion treatment, find the position of pointer by sciagraphy;

S307: according to described reference position scale value, final position scale value, pointer position calculates pointer scale pointed by discriminant by distance, obtains reading.

Demarcate effective dial plate regional: square dial plate marks out the start index point, stops calibration points, and input reference position value num _b, final position scale value num _e

Read dial reading: effectively detecting all line segments in the dial plate zone.Parameter of regularity is set, the line segment after detecting is carried out regularization select, filter out the gauge pointer line segment.

Square dial plate pointer filtering rule is as follows: cursor line slope over 10 angle keeps in the vertical direction kp ∈ [90-epsr, 90+epsr], and epsr represents precision.

For square dial plate, adopt following algorithm that instrument is processed:

Pointer line segment to regularization is done projection process, seeks dial scale regional.

The pointer line segment is projected on the y direction of principal axis, seek the maximal value on the projection array, and spread the border of seeking the dial plate zone up and down.

Search out pointer area by the dial plate zone.By dial plate zone boundary parameter, the pointer area of instrument is found in translation downwards.

Pointer area is done binary conversion treatment, find the position of pointer to use the otsu algorithm to its binaryzation to pointer area by sciagraphy, then project on the x axle, seek the position of pointer on the x direction by extremum method.

By the corresponding reading of discriminant by distance reading pointer.Reference position xbegin, scale value num _b, final position xend, scale value num _e, pointer position xcur, pass through formula:

$P_{\mathrm{value}}=\frac{(x_{\mathrm{cur}}-x_{\mathrm{begin}})}{(x_{\mathrm{end}}-x_{\mathrm{begin}})}*({\mathrm{num}}_e-{\mathrm{num}}_b)---(3-3)$

Calculate pointer scale pointed, obtain reading.

Fig. 4 is that the present invention utilizes video automatically pointer instrument to be carried out the schematic diagram of the device of reading, comprising:

Image indicates the unit, is used for from the effective coverage of the image calibration dial plate of input, obtains the start index point, stops calibration points, record start position scale value, final position scale value;

Indicate with described image the line segment detecting unit that the unit is connected, be used for detecting all line segments in the described effective coverage of dial plate;

The pointer filter element that is connected with described line segment detecting unit is used for arranging parameter of regularity, the line segment after detecting is carried out regularization select, and filters out gauge pointer;

The computing reading unit that is connected with described pointer filter element is used for the type according to dial plate, adopts corresponding algorithm to read described gauge pointer scale pointed, obtains reading.

Fig. 4 is corresponding with Fig. 1, identical in the method for operation of the unit in figure and method.

Fig. 5 is that the present invention utilizes video automatically pointer instrument to be carried out the embodiment schematic diagram of the device of reading.

As shown in Figure 5, comprising: be connected to the center of circle determining unit between described image sign unit and described line segment detecting unit, be used for calculating the perpendicular bisector of described start index point and described termination calibration points; By position and the scale value of check point, calculate the position in the center of circle on perpendicular bisector.

As shown in Figure 5, described computing reading unit comprises:

The pointer merge cells is used for the pointer line segment after regularization, and as slope angle kp1 – kp2 ∈ [eps ,+eps], two straight lines merge;

Angle calculation unit is used for the slope angle according to the formation line segment in start index position and the center of circle, stops the slope angle that scale position and the center of circle form line segment, obtains the angle of pointer line segment;

Disk points to the unit, is used for calculating pointer scale pointed by default computing formula.

As shown in Figure 5, described computing reading unit comprises:

The scale projecting cell is used for the pointer line segment of regularization is done projection process, seeks dial scale regional;

The regional search unit is used for by dial plate zone boundary parameter, and the pointer area of instrument is searched in translation downwards;

Pointer is searched the unit, is used for described pointer area is done binary conversion treatment, finds the position of pointer by sciagraphy;

Square plate points to the unit, is used for according to described reference position scale value, final position scale value, and pointer position calculates pointer scale pointed by discriminant by distance.

As shown in Figure 5, described line segment detecting unit comprises:

Gauss's processing unit is used for Gaussian smoothing is carried out in described effective coverage, obtains smoothed image;

The gradient calculation unit is for gradient and the edge line angle of calculating described smoothed image;

The search listing unit is used for setting up search listing, and the gradient magnitude of each point is rendered to the position coordinates of this point in corresponding BIN to little order by large;

The accessory ID unit is used for setting up the assistant images that is used for the blotter identification information, and gradient magnitude is used less than being set to of θ, and other are not set to and use, wherein,

Q is the pixel quantified precision, and τ is the similar angle precision in edge;

The pixel search unit is used for beginning search by the pixel of search listing, and search rule is, in BIN from the Grad of maximum, and be not masked as and use.

The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the scope of the claims of the present invention.Should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.

Claims (10)

1. one kind is utilized video automatically pointer instrument to be carried out the method for reading, it is characterized in that, comprising:

From the effective coverage of image calibration dial plate of input, obtain the start index point, stop calibration points, record start position scale value, final position scale value;

Detect all line segments in the described effective coverage of dial plate;

Parameter of regularity is set, the line segment after detecting is carried out regularization select, filter out gauge pointer;

According to the type of dial plate, adopt corresponding algorithm to read described gauge pointer scale pointed, obtain reading.

2. the video that utilizes according to claim 1 carries out the method for reading automatically to pointer instrument, it is characterized in that, when the type of described dial plate is circular dial plate, after the step of the effective coverage of demarcation dial plate, detect the step of all line segments in the described effective coverage of dial plate before, comprising:

Calculate the perpendicular bisector of described start index point and described termination calibration points;

By position and the scale value of check point, calculate the position in the center of circle on perpendicular bisector.

3. the video that utilizes according to claim 1 and 2 carries out the method for reading automatically to pointer instrument, it is characterized in that, adopts corresponding algorithm to read the step of described gauge pointer scale pointed, comprising:

To the pointer line segment after regularization, as slope angle kp1 – kp2 ∈ [eps ,+eps], two straight lines merge;

According to the slope angle of the formation line segment in start index position and the center of circle, stop the slope angle of scale position and center of circle formation line segment, obtain the angle of pointer line segment;

Computing formula by default calculates pointer scale pointed.

4. the video that utilizes according to claim 1 carries out the method for reading automatically to pointer instrument, it is characterized in that, when the type of described dial plate is the rectangle dial plate, adopts corresponding algorithm to read the step of described gauge pointer scale pointed, comprising:

Pointer line segment to regularization is done projection process, seeks dial scale regional;

By dial plate zone boundary parameter, the pointer area of instrument is searched in translation downwards;

Described pointer area is done binary conversion treatment, find the position of pointer by sciagraphy;

According to described reference position scale value, final position scale value, pointer position calculates pointer scale pointed by discriminant by distance.

5. the described video that utilizes of according to claim 1 to 4 any one carries out the method for reading automatically to pointer instrument, it is characterized in that, detects the step of all line segments in the described effective coverage of dial plate, comprising:

Gaussian smoothing is carried out in described effective coverage, obtain smoothed image;

Calculate gradient and the edge line angle of described smoothed image;

Set up search listing, the gradient magnitude of each point is rendered to the position coordinates of this point in corresponding BIN to little order by large;

Set up the assistant images that is used for the blotter identification information, gradient magnitude is used less than being set to of θ, other are not set to and use, wherein,

Q is the pixel quantified precision, and τ is the similar angle precision in edge;

Begin search by the pixel in search listing, search rule is, in BIN from the Grad of maximum, and be not masked as and use.

6. one kind is utilized video automatically pointer instrument to be carried out the device of reading, it is characterized in that, comprising:

Image indicates the unit, is used for from the effective coverage of the image calibration dial plate of input, obtains the start index point, stops calibration points, record start position scale value, final position scale value;

Indicate with described image the line segment detecting unit that the unit is connected, be used for detecting all line segments in the described effective coverage of dial plate;

The pointer filter element that is connected with described line segment detecting unit is used for arranging parameter of regularity, the line segment after detecting is carried out regularization select, and filters out gauge pointer;

The computing reading unit that is connected with described pointer filter element is used for the type according to dial plate, adopts corresponding algorithm to read described gauge pointer scale pointed, obtains reading.

7. the video that utilizes according to claim 6 carries out the device of reading automatically to pointer instrument, it is characterized in that, when the type of described dial plate is circular dial plate, comprising:

Be connected to the center of circle determining unit between described image sign unit and described line segment detecting unit, be used for calculating the perpendicular bisector of described start index point and described termination calibration points; By position and the scale value of check point, calculate the position in the center of circle on perpendicular bisector.

8. the according to claim 6 or 7 described videos that utilize carry out the device of reading automatically to pointer instrument, it is characterized in that described computing reading unit comprises:

The pointer merge cells is used for the pointer line segment after regularization, and as slope angle kp1 – kp2 ∈ [eps ,+eps], two straight lines merge;

Angle calculation unit is used for the slope angle according to the formation line segment in start index position and the center of circle, stops the slope angle that scale position and the center of circle form line segment, obtains the angle of pointer line segment;

Disk points to the unit, is used for calculating pointer scale pointed by default computing formula.

9. the video that utilizes according to claim 6 carries out the device of reading automatically to pointer instrument, it is characterized in that described computing reading unit comprises:

The scale projecting cell is used for the pointer line segment of regularization is done projection process, seeks dial scale regional;

The regional search unit is used for by dial plate zone boundary parameter, and the pointer area of instrument is searched in translation downwards;

Pointer is searched the unit, is used for described pointer area is done binary conversion treatment, finds the position of pointer by sciagraphy;

Square plate points to the unit, is used for according to described reference position scale value, final position scale value, and pointer position calculates pointer scale pointed by discriminant by distance.

10. the described video that utilizes of according to claim 6 to 9 any one carries out the device of reading automatically to pointer instrument, it is characterized in that, described line segment detecting unit comprises:

Gauss's processing unit is used for Gaussian smoothing is carried out in described effective coverage, obtains smoothed image;

The gradient calculation unit is for gradient and the edge line angle of calculating described smoothed image;

The search listing unit is used for setting up search listing, and the gradient magnitude of each point is rendered to the position coordinates of this point in corresponding BIN to little order by large;

The accessory ID unit is used for setting up the assistant images that is used for the blotter identification information, and gradient magnitude is used less than being set to of θ, and other are not set to and use, wherein,

Q is the pixel quantified precision, and τ is the similar angle precision in edge;

The pixel search unit is used for beginning search by the pixel of search listing, and search rule is, in BIN from the Grad of maximum, and be not masked as and use.

Images