Fast Edge detection based on mathematical morphology for straight line paths of vision navigation in AGV system

摘要

Fast processing and recognition of image have an important influence on the real-time performance of AGV by vision navigation. The fast method of edge detection based on mathematical morphology for straight line path is proposed in this paper. Binary processing is implemented firstly for path image. Then the edge detection using morphological gradient can be executed directly, and image filtering and recognition of path edge can be realized simultaneously. Kinematics model of AGV is built and the shape of structure element in morphology processing can be adjusted in real time. The results of experiment show that recognition time of straight line path is shorten by this image processing method.