An algorithm of subpixel edge detection based on ZOM and application in calibration for robot vision

Author

Li, Jinquan ; Chen, Shanben ; Wu, Lin

Author_Institution

Nat. Key Lab. of Adv. Welding & Production Technol., Harbin Inst. of Technol., China

Volume

2

fYear

2002

fDate

2002

Firstpage

1210

Abstract

An algorithm of subpixel edge detection based on a Zernike orthogonal moment (ZOM) is presented. The ZOM not only may detect the line edge but also may detect the curve edge. In the paper the properties of the ZOM are analyzed and a gray step model of an image is established taking a line edge as an example. The computing formulas for subpixel edges are gained after analyzing the principle of subpixel edge detection. Three orthogonal moments only are required for subpixel edge detection. After computing the amplitude and vertical direction of the edge, the maximum of the amplitude is searched along the vertical direction in order to locate the subpixel edge. A detailed algorithm is provided. Experimental results show that subpixel edge detection on ZOM has high locating precision and strong robustness to noise.

Keywords

calibration; edge detection; robot vision; Zernike orthogonal moment; calibration; curve edge; gray step model; line edge; robot vision; subpixel edge detection; Automatic control; Automation; Calibration; Image analysis; Image edge detection; Laboratories; Noise robustness; Production; Robot vision systems; Welding;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on

Print_ISBN

0-7803-7268-9

Type

conf

DOI

10.1109/WCICA.2002.1020772

Filename

1020772