SYSTEM AND METHOD FOR FINDING LINES IN AN IMAGE WITH A VISION SYSTEM

摘要

The present invention relates to a method and system for finding multiline features in an image. Two related steps are used to identify line features. The first process calculates the x and y components of the gradient field at each image location, projects the gradient field over multiple sub-regions, and calculates multiple edge points with locations and slopes. It detects a plurality of gradient extrema. The second process selects two edge points, fits a model line to them, and if the edge point slope is consistent with the model, then the entire set of inner left-floor points whose position and slope match that model ( of the full set of inlier points). The candidate line with the maximum left-most count is maintained and a set is derived leaving outlier points. The process repeatedly applies the line fitting operation and a subsequent set of outer left layers to find a plurality of line results. This process can be done on a thorough RANSAC basis.