通過對大量現(xiàn)場采集的圖像的觀察,可以發(fā)現(xiàn)所有圖像都有同樣的規(guī)律:將Cb作為灰度值時,焊縫本身像素灰度值較高,呈現(xiàn)灰黑色。而焊縫本身像素偏低,呈灰白色。同時在交界處存在小段過濾帶。針對這個特征,可分別預先制作2個小模板。焊縫左邊緣模板a和焊縫右邊緣模板b,如圖4所示。
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系統(tǒng)對圖像逐行從左到右掃描。對各點所在窗口圖像與模板a進行匹配。求得匹配相似度,取相似度時所在點x坐標為該行的焊縫左邊緣點。于是可得一系列左邊緣點,求均值即得到焊縫左邊緣坐標。同理,從上到下,由右到左掃描每一行,各點所在窗口圖像與b模塊進行匹配運算,即可得焊縫右邊緣坐標。將左右邊緣坐標相加除以2即可得焊縫中心橫坐標。
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