识别图像中的对象

Question

你好我正在做一个学校项目,在那里我们有一个机器人在火烈鸟板之间的地面上行驶.我们需要创建一个可以识别这些板块位置的算法,这样我们就可以在它们周围创建路径(我们正在使用A Star).

到目前为止,我们已经与AForged Library合作,我们创建了以下类,唯一的问题是,当它创建矩形剂量时,它不会考虑到板不总是与相机边界平行,并且就是这种情况它会创建一个覆盖整个板块的矩形.所以我们需要以某种方式在对象上找到旋转,或者以另一种方式来识别它.我创建了一个可能有助于解释这一点的图像

图像描述问题:http://img683.imageshack.us/img683/9835/imagerectangle.png

任何有关如何做到这一点的帮助将不胜感激.

我们随时欢迎任何其他信息或意见.

public class PasteMap
{
    private Bitmap image;
    private Bitmap processedImage;
    private Rectangle[] rectangels;

    public void initialize(Bitmap image)
    {
        this.image = image;
    }

    public void process()
    {
        processedImage = image;
        processedImage = applyFilters(processedImage);
        processedImage = filterWhite(processedImage);
        rectangels = extractRectangles(processedImage);
        //rectangels = filterRectangles(rectangels);
        processedImage = drawRectangelsToImage(processedImage, rectangels);
    }

    public Bitmap getProcessedImage
    {
        get
        {
            return processedImage;
        }
    }

    public Rectangle[] getRectangles
    {
        get
        {
            return rectangels;
        }
    }

    private Bitmap applyFilters(Bitmap image)
    {
        image = new ContrastCorrection(2).Apply(image);
        image = new GaussianBlur(10, 10).Apply(image);
        return image;
    }

    private Bitmap filterWhite(Bitmap image)
    {
        Bitmap test = new Bitmap(image.Width, image.Height);

        for (int width = 0; width < image.Width; width++)
        {
            for (int height = 0; height < image.Height; height++)
            {
                if (image.GetPixel(width, height).R > 200 &&
                    image.GetPixel(width, height).G > 200 &&
                    image.GetPixel(width, height).B > 200)
                {
                    test.SetPixel(width, height, Color.White);
                }
                else
                    test.SetPixel(width, height, Color.Black);
            }
        }
        return test;
    }

    private Rectangle[] extractRectangles(Bitmap image)
    {
        BlobCounter bc = new BlobCounter();
        bc.FilterBlobs = true;
        bc.MinWidth  = 5;
        bc.MinHeight = 5;
        // process binary image
        bc.ProcessImage( image );
        Blob[] blobs = bc.GetObjects(image, false);
        // process blobs
        List<Rectangle> rects = new List<Rectangle>();
        foreach (Blob blob in blobs)
        {
            if (blob.Area > 1000)
            {
                rects.Add(blob.Rectangle);
            }
        }

        return rects.ToArray();
    }

    private Rectangle[] filterRectangles(Rectangle[] rects)
    {
        List<Rectangle> Rectangles = new List<Rectangle>();
        foreach (Rectangle rect in rects)
        {
            if (rect.Width > 75 && rect.Height > 75)
                Rectangles.Add(rect);
        }

        return Rectangles.ToArray();
    }

    private Bitmap drawRectangelsToImage(Bitmap image, Rectangle[] rects)
    {
        BitmapData data = image.LockBits(new Rectangle(0, 0, image.Width, image.Height),
                ImageLockMode.ReadWrite, PixelFormat.Format24bppRgb);
        foreach (Rectangle rect in rects)
            Drawing.FillRectangle(data, rect, Color.Red);
        image.UnlockBits(data);
        return image;
    }
}

Answer 1

正如@kigurai所说,你需要更多地分析斑点以找到角落.AForge库允许您执行此操作,有关详细信息,请参阅此页面上的查找凸包.下面的截图(来自页面)显示了凸包的小样本.

alt text http://www.aforgenet.com/framework/features/imaging/convex_hulls.png

你想看看GetBlobsLeftAndRightEdges函数和GrahamConvexHull类.