METHOD AND APPARATUS FOR FAST IMAGE BINARIZATION FOR INDUSTRIAL ROBOTS

摘要

A fast image binarization method for an industrial robot according to the present invention includes the steps of: setting an image binarization motion mode to one of a background setting mode and an image biarization mode; extracting a background image from an input image if the image binarization motion mode is set to the background setting mode; determining a grayscale range of the background based on a grayscale histogram of a background region to sequentially sort binary symbols representing whether each grayscale belongs to a background grayscale range throughout the whole grayscale range so that background information can be created; Storing the created background information in a binarization register that can be addressed in an address range equal to or greater than the number of the whole grays; determining the grayscale of each pixel of the input image and creating an address using a grayscale value of each pixel if the image binarization motion mode is set to the background setting mode; and determining a pixel value of the binary pixel corresponding to the pixel of the input image according to a binary symbol read out of the binary register accessing to the address created corresponding to the grayscale to arrange binary pixels having determined pixel values so that a binary image is created.