| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide an image processing system, an image processing program, a robot device and an image processing method which can stably detect only a detection target edge even when a change in illumination occurs under a condition that a non-detection target edge having a similar shape to the detection target edge is provided. <P>SOLUTION: Feature quantity is set on the basis of an average luminance value for each sampling region, a threshold for selecting an edge is determined from a feature quantity histogram, and only the detection target edge is selected on the basis of a correlation between the determined threshold, the detection target edge stored in advance and the feature quantity of the non-detection target edge. Thus, edge feature quantity is calculated every time for an input image of a detection target workpiece and a threshold of the feature quantity for separating the detection target edge and the non-detection target edge can be dynamically calculated. Accordingly, even when luminance fluctuation in the input image becomes larger due to deterioration of an illuminating device, etc., the detection target edge and the non-detection target edge can be stably separated to accurately detect the detection target edge. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
