迷宫机器人迷宫信息提取方法研究  

Research on labyrinth information extraction method of labyrinth robot

作　　者：袁臣虎 张丽娜[2] YUAN Chenhu;ZHANG Lina(School of Electronics and Information Engineering,Tiangong University,Tianjin 300380,China;School of Electrical Engineering,Tiangong University,Tianjin 300380,China)

机构地区：[1]天津工业大学电子与信息工程学院,天津300380 [2]天津工业大学电气工程学院,天津300380

出　　处：《激光杂志》2024年第1期129-135,共7页Laser Journal

基　　金：国家自然科学基金(No.61903273)。

摘　　要：针对迷宫机器人自主获取迷宫信息耗时长、耗能高、信息缺失等问题,提出借助图像处理相关方法获取迷宫单元格信息,以提升迷宫机器人迷宫任务效率。针对迷宫图像中的亮度不均、色彩异化等固有缺陷,提出一种融合Kirsch和改进Canny算子的迷宫单元格边缘检测方法,实现了迷宫单元格的边缘特征提取。利用图像形态学原理,对迷宫单元格特征进行去噪、合并、膨胀和填充,实现图像边缘增强。针对迷宫单元格特征,提出了一种像素分块匹配特征法进行迷宫单元格信息匹配,以实现迷宫单元格的信息提取。实验结果表明对亮度范围在γ=1.1且拍摄角度30度及以上的迷宫图像信息提取正确率达到100%,因此,提出的迷宫信息提取方法是实际可行的,为后续迷宫机器人迷宫任务的高效执行提供了保证。Aiming at the problems of long-time,high-energy consumption and missing information for labyrinth robot to obtain labyrinth information independently,this paper proposes to use image processing related methods to obtain labyrinth cell information,so as to improve the labyrinth task efficiency of labyrinth robot.Aiming at the inherent defects of uneven brightness and color dissimilation in labyrinth images,a labyrinth cell edge detection method based on Kirsch and improved Canny operator is proposed,which realizes the edge feature extraction of labyrinth cells.Using the principle of image morphology,the labyrinth cell features are denoised,merged,expanded and filled to achieve image enhancement of the labyrinth cell.Aiming at the characteristics of labyrinth cells,a pixel block matching feature method is proposed to match the information of labyrinth cells to achieve the information extraction of labyrinth cells.The experimental results show that the accuracy of information extraction for labyrinth images with a brightness range ofγ=1.1 and a shooting angle of 30 degrees or more reaches 100%.Therefore,the labyrinth information extraction method proposed in this paper is practical and feasible,which provides a guarantee for the efficient execution of the subsequent labyrinth tasks of the labyrinth robot.

关 键 词：透视变换 特征匹配 边缘检测 迷宫机器人 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]