Otsu算法在基于ROS系统的变电站机器人导航线提取中的应用研究  

The Applicative Research of Otsu Algorithm in Navigation-Line Extraction by ROS-System-Based Substation Robot

作　　者：杨慧炯 YANG Hui-jiong(Department of Computer Engineering, Taiyuan Institute of Technology, Taiyuan 030008, China)

机构地区：[1]太原工业学院计算机工程系,山西太原030008

出　　处：《微电子学与计算机》2018年第7期122-126,共5页Microelectronics & Computer

基　　金：山西省科技攻关项目(20140313025-2);山西省高等学校科技开发项目(20121119)

摘　　要：针对变电站机器人导航线和路面背景区分度高且图像分布具有规则性的特点,将采集图像预处理后,首先在HSV空间中进行导航线颜色分量抽取,接下来转换到YCbCr空间中利用Cb分量灰度分布对光照强度不敏感的特征,比较扫描图像局部方差和最大类间方差,通过对Otsu算法进行改进,快速完成导航线背景信息的剔除,从而达到提取导航线的目的.该算法应用基于ROS系统的轮式机器人,通过实验表明该算法在不同天气和光照条件下总体有效率可达98.9%,具有较高的鲁棒性.A novel algorithm is proposed because there is high degree of distinction between navigation-line extracted by transformer substation robot and background area, and the images are distributed in regular ways. The algorithm first extracts the color component of navigation line from the preprocessed images in the HSV space. Then, in order to quickly remove the background information to extract the navigation-line, the algorithm improves the Otsu algorithm by comparing and scanning the local variance and the maximal between-cluster variance of the image whereas the Cb component＇ s grayscale distribution is insensitive to light intensity in the YCbCr space. The experiment results show that the overall efficiency of the algorithm is up to 98. 9%o in different weather and light conditions when it is applied to wheel robot based on the ROS system,and that the algorithm has high robustness.

关 键 词：变电站巡检机器人 ROS 视觉导航 目标提取 

分 类 号：TM63[电气工程—电力系统及自动化] TP249[自动化与计算机技术—检测技术与自动化装置]