针对线结构光自身分布不均匀且易受环境影响的问题,提出了一种基于二次平滑算法的线结构光中心线提取方法。首先对采集的图像进行感兴趣区域裁剪以减少激光条纹中心线提取的计算量;然后用灰度重心法提取激光条纹中心线的初始值,用均值法平滑激光条纹中心线初始位置的大凸起与毛刺;最后通过Savitzky-Golay滤波算法二次平滑激光条纹中心线的小凸起和毛刺。实验结果表明,与灰度重心法相比,该方法提取分辨率为1280 pixel×720 pixel的图像激光条纹中心线用时略快0.10 s,精度提高了19.15%~44.87%,且受光强变化的影响较小,满足实时性强、精度高、稳定性好的要求。

In order to solve the problem that the distribution of line structured light is not uniform and it is easy to be affected by the environment, a method for extracting the centerline of line structured light based on quadratic smoothing algorithm is proposed. First, the region of interest of the collected image is cropped to reduce the calculation amount of the laser stripe centerline extracting. Then the gray center of gravity method is used to extract the initial value of the laser stripe centerline, and mean value method is used to smooth the big bulge and burr at the initial position of the laser stripe centerline. Finally, Savitzky-Golay filtering algorithm is used to smooth the small bulge and burr of the laser stripe centerline twice. Experiment results show that, compared with the gray center of gravity method, it is slightly faster than about 0.10 s when using this method to extract the centerline of the laser fringe of the image with a resolution of 1280 pixel×720 pixel, and the accuracy is improved by 19.15% to 44.87%. The impact from the change of light intensity is small. Therefore, the method meets the requirements of good real-time, high precision, and good stability.