| 摘要 |
PURPOSE:To detect and exclude a false corner point due to noise, by utilizing the characteristics of variation in difference value for the picture pattern recognition wherein the position of a corner is detected from the contour line of an object of operation on a binary picture by a visual sensor of an industrial intelligent robot. CONSTITUTION:When noise Zn is mixed with correct corners X and Y, a line scanning contour-line detection part 5 detects noise Zn instead of a point Z on the contour line as it is on a point on the contour line. Therefore, a corner candidate point decision part 8 detects such points that ¦diff(n)¦>theta as corner candidate points including the noise Zn. In general, when noise is mixed besides a real contour line, diff<-theta folloing diff>theta or diff>theta following diff<-theta is obtained, so a false corner point decision part 9 once recognizing said condition decides as a false corner point and excludes the false corner point from the corner candidate points detected by the decision part 8. |
