第6讲 特征提取_点、直线 深圳大学 机器视觉及应用 课件.pptVIP

* 15.2; main point is that lots of noise can lead to large peaks in the array * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * Figure 15.1, top half. Note that most points in the vote array are very dark, because they get only one vote. * * * * This is 15.1 lower half * This is 15.1 lower half Parameter space representation Where is the line that contains both (x0, y0) and (x1, y1)? It is the intersection of the lines b = –x0m + y0 and b = –x1m + y1 Image space Hough parameter space (x0, y0) (x1, y1) b = –x1m + y1 Problems with the (m,b) space: Unbounded parameter domain Vertical lines require infinite m Parameter space representation Problems with the (m,b) space: Unbounded parameter domain Vertical lines require infinite m Alternative: polar representation Parameter space representation Each point will add a sinusoid in the (?,?) parameter space Algorithm outline Initialize accumulator H to all zeros For each edge point (x,y) in the image For θ = 0 to 180 ρ = x cos θ + y sin θ H(θ, ρ) = H(θ, ρ) + 1 end Find the value(s) of (θ, ρ) where H(θ, ρ) is a local maximum The detected line in the image is given by  ρ = x cos θ + y sin θ ρ θ features votes Basic illustration Square Circle Other shapes Several lines A more complicated image /files/images/ss_hough.jpg features votes Effect of noise features votes Effect of noise Peak gets fuzzy and hard to locate Random points Uniform noise can lead to spurious peaks in the array features votes Dealing with noise Choose a good grid / discretization Too coarse: large votes obtained when too many different lines correspond to a single bucket Too fine: miss lines because some points that are not exactly collinear cast votes for different buckets Increment neighboring bins (smoothing in accumulator array) Try to get rid of irrelevant features Take only edge points with significant gradient magnitude Incorporating image gradients Recall: when we detect an edge point, we also know its gradien