中国激光, 2020, 47 (7): 0702002, 网络出版: 2020-07-10
基于方向梯度直方图粒子滤波的V型焊缝跟踪 
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V-Shaped Seam Tracking Based on Particle Filter with Histogram of Oriented Gradient
图 & 表
图 3. 无干扰下焊缝拐点区域的Hog特征
Fig. 3. Hog characteristics of weld flex point area without interference
图 4. 强干扰下焊缝拐点区域的Hog特征
Fig. 4. Hog characteristics of weld flex point area with strong interference
图 5. 基于Hog粒子滤波的焊缝跟踪算法流程图
Fig. 5. Flow chart of seam tracking algorithm based on particle filter with histogram of oriented gradient
图 6. 自主移动焊接机器人实验装置与实际自主焊接过程,以及焊缝跟踪区域示意图。(a)实验装置与自主焊接过程;(b)焊缝跟踪区域示意图
Fig. 6. Experimental device of autonomous mobile welding robot and actual autonomous welding process, and schematic of seam tracking area. (a) Experimental device and actual autonomous welding process; (b) schematic of seam tracking area
图 7. 点集和拐点示意图。(a)将中心点分成四部分点集;(b)焊缝的左拐点;(c)焊缝的右拐点
Fig. 7. Schematics of point sets and flex points. (a) Divide the center point into four point sets; (b) left flex point of weld; (b) right flex point of weld
图 11. 每帧图像处理时间随粒子数的变化
Fig. 11. Variation of processing time of each frame image with the number of particles
杨国威, 闫树明, 王以忠. 基于方向梯度直方图粒子滤波的V型焊缝跟踪[J]. 中国激光, 2020, 47(7): 0702002. Yang Guowei, Yan Shuming, Wang Yizhong. V-Shaped Seam Tracking Based on Particle Filter with Histogram of Oriented Gradient[J]. Chinese Journal of Lasers, 2020, 47(7): 0702002.
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