机器人视觉课件7-Robot Vison-3-EdgeDetection-第一文库 | 海量文档资源下载与分享平台

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1RobotVision–EdgeDetection&7Segmentation2012/9/9ROBOTVISIONHuang-NanHuang2012/9/92012AutumnYUVandRGBconversionIncreaseilluminace32012/9/942012/9/9RGBtransformtoYUVRGBtransformtoYUVY0.2990.5780.114RY0.2990.5780.114R+cU=−0.147−0.2890.436G+cU=−0.147−0.2890.436GV0.615−0.5140.101B+c−V0.6150.5140.101B0.2990.5780.114R0.2990.5780.114c=−−+−−0.1470.2890.436G0.1470.2890.436c−−YUVtransformtoRGB0.6150.5140.101B0.6150.5140.101c0.2990.5780.114RcR10.00271.1405Y=−−+0.1470.2890.436G0=−−G10.39600.5808U0.615−0.5140.101B0B12.0320−0.0005VSameforRGBtransformtoYCrCb,(YUV)’SubsamplingOutline52012/9/962012/9/9SpatialDerivativesGaborFilterKamanFilterFidelityCriteriaEdgedetectionSpatialDerivative72012/9/982012/9/9asasharpeningfilterwithusingfirstandsecondorderderivatives(approximatedbybackward,central,forwardfinitedifferenceformulas,Δ=1)st1:,(,)≈,−−1,,+1,−,,nd2:,,,≈,+1,−2,+−1,,,,(,)Effectoffiltering:1’st:athickeredge.MaskImplementationforcentraldifference2’nd:athinlines,points.(finedetail)000≈−0.500.5000000≈1−21000SpatialDerivativesDifferenceFilter92012/9/9102012/9/9FirstSecondIsotropicFilter112012/9/9122012/9/9Itisrotationinvariant,independentofdirectionofDigitalLaplacianusingneighborhood:thediscontinuitiesintheimage.Thesimplestisotropicderivativeoperatoristhe≈+1,−2,+−1,,Laplacianof:≈,+1−2,+,−1,(,)Δ=+BecausederivativesofanyorderarelinearΔ,=[+1,+−1,+operations,theLaplacianisa“linear”operator.,−1+,+1]−4,MaskImplementationforLaplacianfilter010Δ≈1−41010Maskimplementation132012/9/9142012/9/9MaskImplementation152012/9/9162012/9/9Laplacianfilter010