Detección Eficiente de Elipses en Imágenes. Aplicación al Posicionamiento 3D de un Robot Industrial

  1. Eusebio de la Fuente López 1
  2. Félix Miguel Trespaderne 2
  1. 1 Instituto de Tecnologías Avanzadas de la Producción
  2. 2 Universidad de Valladolid
    info

    Universidad de Valladolid

    Valladolid, España

    ROR https://ror.org/01fvbaw18

Revista:
Revista iberoamericana de automática e informática industrial ( RIAI )

ISSN: 1697-7920

Año de publicación: 2012

Volumen: 9

Número: 4

Páginas: 419-428

Tipo: Artículo

DOI: 10.1016/J.RIAI.2012.09.005 DIALNET GOOGLE SCHOLAR lock_openAcceso abierto editor

Otras publicaciones en: Revista iberoamericana de automática e informática industrial ( RIAI )

Resumen

En este artículo se presenta un algoritmo para la detección de elipses en imágenes, cuyo objetivo es el cálculo d e la posición 3D de una característica circular en una aplicación robótica. El algoritmo emplea un procedimiento estocástico RANSAC cuya eficiencia ha sido mejorada. El muestreo aleatorio ha sido sustituido por un muestreo guiado sobre las cadenas de contorno de la imagen, que son ordenadas de acuerdo a un criterio de probabilidad de formar parte de la elipse buscada. Esta estrategia disminuye notablemente la cantidad de muestras necesarias, permitiendo que el algoritmo sea adecuado para tiempo real.

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