JPH0158107U - - Google Patents
Info
- Publication number
- JPH0158107U JPH0158107U JP15225787U JP15225787U JPH0158107U JP H0158107 U JPH0158107 U JP H0158107U JP 15225787 U JP15225787 U JP 15225787U JP 15225787 U JP15225787 U JP 15225787U JP H0158107 U JPH0158107 U JP H0158107U
- Authority
- JP
- Japan
- Prior art keywords
- plane
- target object
- hough transform
- image
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims 2
- 230000001186 cumulative effect Effects 0.000 claims 1
- 238000003384 imaging method Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 239000000470 constituent Substances 0.000 description 1
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Description
第１図は実用新案登録請求の範囲に記載の構成
要件を示すブロツク図、第２図はこの考案の１実
施例にかかる距離画像生成手段を示す構成図、第
３図は距離画像生成例を示す説明図、第４図は直
線設定例を示す説明図、第５図はハフ変換のため
の画像生成例を示す説明図、第６図は直線の傾き
算出のための説明図、第７図はハフ変換の処理過
程を示すフローチヤート、第８図は第７図のフロ
ーチヤートの説明に供する図、第９図はこの考案
の他の実施例の処理過程を示す説明図、第１０図
はこの考案の第３の実施例の処理過程を示す説明
図である。
１…距離画像生成手段、２…直線設定手段、３
…ハフ変換手段、４…平面決定手段、１０４…対
象物体。
Fig. 1 is a block diagram showing the constituent elements described in the claims for utility model registration, Fig. 2 is a block diagram showing a distance image generation means according to an embodiment of this invention, and Fig. 3 shows an example of distance image generation. FIG. 4 is an explanatory diagram showing an example of setting a straight line. FIG. 5 is an explanatory diagram showing an example of image generation for Hough transform. FIG. 6 is an explanatory diagram for calculating the slope of a straight line. is a flowchart showing the processing process of Hough transform, FIG. 8 is a diagram for explaining the flowchart of FIG. 7, FIG. 9 is an explanatory diagram showing the processing process of another embodiment of this invention, and FIG. It is an explanatory diagram showing a processing process of a third example of this invention. 1... Distance image generation means, 2... Straight line setting means, 3
...Hough transform means, 4... Plane determining means, 104... Target object.
Claims (1)
つて２次元画像に変換し、得られた画像を処理し
て上記認識対象物体中の平面の位置および傾きを
算出する平面検出装置であつて、対象物体を撮像
し得られた２次元画像上の高さ情報を画像の濃淡
情報に変換する距離画像生成手段と、生成された
距離画像上に任意の１点で交差する２直線を設定
する直線設定手段と、設定された２直線上の濃淡
情報にハフ変換を施すハフ変換手段と、このハフ
変換手段の出力から平面の方程式を算出する平面
決定手段とを有し、上記ハフ変換手段はハフ変換
におけるパラメータ平面の最大累積値から対象物
体中の曲面の存在を検出する手段を含むことを特
徴とする平面検出装置。 A plane detection device that converts three-dimensional information of a recognition target object into a two-dimensional image using a light cutting method or the like, and processes the obtained image to calculate the position and inclination of a plane in the recognition target object. distance image generation means for converting height information on a two-dimensional image obtained by imaging a target object into image gradation information; and setting two straight lines that intersect at an arbitrary point on the generated distance image. The Hough transform means has a straight line setting means that performs a Hough transform on the gradation information on the two set straight lines, and a plane determining means that calculates a plane equation from the output of the Hough transform means. A plane detection device comprising means for detecting the presence of a curved surface in a target object from the maximum cumulative value of a parameter plane in a Hough transform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15225787U JPH0158107U (en) | 1987-10-06 | 1987-10-06 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15225787U JPH0158107U (en) | 1987-10-06 | 1987-10-06 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0158107U true JPH0158107U (en) | 1989-04-11 |
Family
ID=31427020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15225787U Pending JPH0158107U (en) | 1987-10-06 | 1987-10-06 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0158107U (en) |
-
1987
- 1987-10-06 JP JP15225787U patent/JPH0158107U/ja active Pending
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