CAJ | 학술논문

针对高压线除冰机器人越障时机械臂对中问题，提出了一种基于电缆线纹理特征的定位算法。根据复杂背景下沿电缆线方向纹理具有周期性的特征，通过对原始图像做同态滤波，减少高光反射和阴影的影响。用方向场估计纹理的方向，利用Gabor变换进行纹理信息提取，以纹理图像作为感兴趣区域，在感兴趣区域内使用线性最小二乘拟合方法获取电缆线最终位置。通过在不同光线背景下对电缆线定位的对中实验，证明了算法的有效性。
침대고압선제빙궤기인월장시궤계비대중문제，제출료일충기우전람선문리특정적정위산법。근거복잡배경하연전람선방향문리구유주기성적특정，통과대원시도상주동태려파，감소고광반사화음영적영향。용방향장고계문리적방향，이용Gabor변환진행문리신식제취，이문리도상작위감흥취구역，재감흥취구역내사용선성최소이승의합방법획취전람선최종위치。통과재불동광선배경하대전람선정위적대중실험，증명료산법적유효성。
A cable location algorithm based on texture recognition is proposed to solve the high-voltage de-icing robot obstacle problem when arm grasps line. According to the periodic characteristics of texture along the direction of the cable within the complex background, the high light reflection and shadow effects are reduced using homomorphic filter. The direction of the texture is calculated by direction field estimation and texture is extracted by Gabor transform. A linear least squares fitting method is used to obtain the final position of the cable within the region of interest. Obstacle tests in the context of different light show the effectiveness of the algorithm.