基于Sobel边缘检测的圆周Harris角点检测算法
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摘要
特征点的选取是视觉研究的基础,其选取的精确度直接影响到视觉信息处理的准确性与可靠性。传统Harris角点检测方法具有计算简单、易于实现的优点,但该算法效率低下、检测精度较低、抗噪性差、存在角点簇。提出一种基于Sobel边缘检测的圆周Harris角点检测算法:首先采用Sobel边缘检测进行角点预筛选,本质上提高检测效率;随后采用圆周窗口模板对筛选后的角点进行非极大值抑制,减少漏检点与伪角点的个数;最后采用临近点剔除法,保留非极值最大点作为角点,解决角点簇问题。实验结果表明,文中角点检测算法运行效率得到了极大提高,减低漏检率的同时,旋转不变性亦得到了改善。
The selection of feature points is the basis of visual research,and the accuracy of its selection directly affects the accuracy and reliability of visual information processing. The traditional Harris corner detection method has the advantages of simple calculation and easy implementation. However,the algorithm has low efficiency,low detection precision,poor noise resistance and corner clusters. In this paper,a circumferential Harris corner detection algorithm based on Sobel edge detection is proposed. Firstly,Sobel edge detection is used to perform corner point pre-screening,which improves the detection efficiency in essence. Then,the circumferential window template is used to suppress the non-maximum value of the selected corner points to reduce the number of missed detection points and pseudo corner points.Finally adopt the adjacent point culling method,retain the non-extreme maximum point as the corner point,and solve the corner point cluster problem. The experimental results show that the running efficiency of the corner detection algorithm is greatly improved,and the rotation invariance is also improved while reducing the missed detection rate.
The selection of feature points is the basis of visual research,and the accuracy of its selection directly affects the accuracy and reliability of visual information processing. The traditional Harris corner detection method has the advantages of simple calculation and easy implementation. However,the algorithm has low efficiency,low detection precision,poor noise resistance and corner clusters. In this paper,a circumferential Harris corner detection algorithm based on Sobel edge detection is proposed. Firstly,Sobel edge detection is used to perform corner point pre-screening,which improves the detection efficiency in essence. Then,the circumferential window template is used to suppress the non-maximum value of the selected corner points to reduce the number of missed detection points and pseudo corner points.Finally adopt the adjacent point culling method,retain the non-extreme maximum point as the corner point,and solve the corner point cluster problem. The experimental results show that the running efficiency of the corner detection algorithm is greatly improved,and the rotation invariance is also improved while reducing the missed detection rate.
引文
[1]苏婷,金龙旭,李国宁,等.基于改进Harris算法的图像角点检测[J].半导体光电,2015,36(3):495-499.SU Ting,JIN Long-xu,LI Guo-ning,et al. Image corner detection based on improved Harris algorithm[J]. Semiconductor Optoelectronics,2015,36(3):495-499.
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[13]龙忠杰,王吉芳,左云波.一种改进的Harris与SUSAN相结合的角点检测算法[J].计算机应用与软件,2013,30(12):133-136.LONG Zhong-jie,WANG Ji-fang,ZUO Yun-bo. An improved corner detection algorithm with the combination of Harris and SUSAN[J]. Computer Applications and Software,2013,30(12):133-136.
[14]卢伟家,刘缠牢.一种基于Harris特征点检测的改进算法[J].仪表技术与传感器,2017(12):98-100,104.LU Wei-Jia,LIU Chan-lao. Improved algorithm based on Harris feature point detection[J]. Instrumentation Technology and Sensors,2017(12):98-100,104.
[15]王培元,周建军,王日胜,等.海面舰船目标检测优化算法仿真[J].计算机仿真,2017,34(7):416-421.WANG Pei-yuan,ZHOU Jian-jun,WANG Ri-sheng,et al. The simulations of an optimal algorithm for sea surface ship targets detection[J]. Computer Simulation,2017,34(7):416-421.
[16]洪改艳,芮廷先,俞伟广,等. Harris角点检测的优化算法[J].计算机系统应用,2017,26(4):169-172.HONG Gai-Yan,RUI Ting-Xian,YU Wei-Guang,et al.Improved algorithm based on Harris corner detection[J]. Computer Systems&Applications,2017,26(4):169-172.
[17] Jun Yan,Yan Piao. Research on the Harris algorithm of feature extraction for moving targets in the video[J].Applied Mechanics and Materials,2014,741:378.
[18]赵万金,龚声蓉,刘纯平,等.一种自适应的Harris角点检测算法[J].计算机工程,2008(10):212-214,217.ZHAO Wan-jin,GONG Sheng-rong,LIU Chun-ping,et al. Adaptive Harris corner detection algorithm[J]. Computer Engineering,2008(10):212-214,217.
[19]周龙萍.基于改进的Harris算法检测角点[J].计算机技术与发展,2013,23(2):11-14.ZHOU Long-ping. Corners detection based on improved Harris algorithm[J]. Computer Technology and Development,2013,23(2):11-14.
[20] LI Yi-bo,LI Jun-jun. Harris corner detection algorithm based on improved contourlet transform[J]. Procedia Engineering,2011,15:2239-2243.
[21]杨占龙.基于特征点的图像配准与拼接技术研究[D].西安:西安电子科技大学,2008.YANG Zhan-long. Research image registration and mosaic based on feature point[D]. Xi’an:Xidian University,2008.
[22]齐俊.一种改进的Harris角点检测算法[D].北京:北京印刷学院,2015.QI Jun. An improved Harris corner detection algorithm[D]. Beijing:Beijing Institute of Graphic Communication,2015.
[2] CHEN Xiao-yuan. An algorithm for fast corner points extraction with reducing mistaken matching based on Harris operator[C]//Research Institute of Management Science and Industrial Engineering. Proceedings of 20175th International Conference on Mechatronics,Materials,Chemistry and Computer Engineering(ICMMCCE2017). Research Institute of Management Science and Industrial Engineering,2017:6.
[3]毛雁明,兰美辉,王运琼,等.一种改进的基于Harris的角点检测方法[J].计算机技术与发展,2009,19(5):130-133.MAO Yan-ming,LAN Mei-hui,WANG Yun-qiong,et al. An improved corner detection method based on Harris[J]. Computer Technology and Development,2009,19(5):130-133.
[4]张晶,李玉龙,王阳萍.基于B样条函数的改进Harris角点检测算法[J].兰州交通大学学报,2013,32(6):32-35.ZHANG Jing,LI Yu-long,WANG Yang-ping. Improved Harris corner detection algorithm based on B-spline function[J]. Journal of Lanzhou Jiaotong University,2013,32(6):32-35.
[5]龚平,刘相滨,周鹏.一种改进的Harris角点检测算法[J].计算机工程与应用,2010,46(11):173-175.GONG Ping,LIU Xiang-bin,ZHOU Peng. Improved Harris based corner detection algorithm[J]. Computer Engineering and Applications,2010,46(11):173-175.
[6]邹志远,安博文,曹芳,等.一种自适应红外图像角点检测算法[J].激光与红外,2015,45(10):1272-1276.ZOU Zhi-yuan,AN Bo-wen,CAO Fang,et al. Adaptive corner point detection of infrared images[J]. Laser&Infrared,2015,45(10):1 272-1276.
[7]赵萌,温佩芝,邓星,等.一种参数自适应的Harris角点检测算法[J].桂林电子科技大学学报,2016,36(3):215-219.ZHAO Meng,WEN Pei-zhi,DENG Xing,et al. A parameter adaptive Harris corner detecion algorithm[J]. Journal of Guilin University of Electronic Technology,2016,36(3):215-219.
[8]张见双,张红民,罗永涛,等.一种改进的Harris角点检测的图像配准方法[J].激光与红外,2017,47(2):230-233.ZHANG Jian-shuang,ZHANG Hong-min,LUO Yongtao,et al. An improved Harris corner detection image registration method[J]. Laser&Infrared,2017,47(2):230-233.
[9] JU Zeng-wei. Image segmentation based on adaptive threshold edge detection and mean shift[C]//IEEE,IEEE Beijing Section. Proceedings of 2013 IEEE 4th International Conference on Software Engineering and Service Science. IEEE,IEEE Beijing Section,2013:4.
[10] LI Zhong-hai. An adaptive threshold edge detection method based on the law of gravity[C]//Northeastern University, IEEE Singapore Industrial Electronics Branch,IEEE Control Systems Association Harbin Branch:Control and Decision Editorial Department,2013:4.
[11]沈德海,张龙昌,鄂旭.基于Sobel算子的改进边缘检测算法[J].信息技术,2015(4):15-18.SHEN De-hai,ZHANG Long-chang,E Xu. An improved edge detection algorithm based on Sobel operator[J].Information Technology,2015(4):15-18.
[12]张棋,贾方秀,殷婷婷.基于改进Sobel算法的实时图像边缘检测系统设计[J].仪表技术与传感器,2018(2):101-104,108.ZHANG Qi,JIA Fang-xiu,YIN Ting-ting. Design of realtime image edge detection system based on improved Sobel algorithm[J]. Instrument Technique and Sensor,2018(2):101-104,108.
[13]龙忠杰,王吉芳,左云波.一种改进的Harris与SUSAN相结合的角点检测算法[J].计算机应用与软件,2013,30(12):133-136.LONG Zhong-jie,WANG Ji-fang,ZUO Yun-bo. An improved corner detection algorithm with the combination of Harris and SUSAN[J]. Computer Applications and Software,2013,30(12):133-136.
[14]卢伟家,刘缠牢.一种基于Harris特征点检测的改进算法[J].仪表技术与传感器,2017(12):98-100,104.LU Wei-Jia,LIU Chan-lao. Improved algorithm based on Harris feature point detection[J]. Instrumentation Technology and Sensors,2017(12):98-100,104.
[15]王培元,周建军,王日胜,等.海面舰船目标检测优化算法仿真[J].计算机仿真,2017,34(7):416-421.WANG Pei-yuan,ZHOU Jian-jun,WANG Ri-sheng,et al. The simulations of an optimal algorithm for sea surface ship targets detection[J]. Computer Simulation,2017,34(7):416-421.
[16]洪改艳,芮廷先,俞伟广,等. Harris角点检测的优化算法[J].计算机系统应用,2017,26(4):169-172.HONG Gai-Yan,RUI Ting-Xian,YU Wei-Guang,et al.Improved algorithm based on Harris corner detection[J]. Computer Systems&Applications,2017,26(4):169-172.
[17] Jun Yan,Yan Piao. Research on the Harris algorithm of feature extraction for moving targets in the video[J].Applied Mechanics and Materials,2014,741:378.
[18]赵万金,龚声蓉,刘纯平,等.一种自适应的Harris角点检测算法[J].计算机工程,2008(10):212-214,217.ZHAO Wan-jin,GONG Sheng-rong,LIU Chun-ping,et al. Adaptive Harris corner detection algorithm[J]. Computer Engineering,2008(10):212-214,217.
[19]周龙萍.基于改进的Harris算法检测角点[J].计算机技术与发展,2013,23(2):11-14.ZHOU Long-ping. Corners detection based on improved Harris algorithm[J]. Computer Technology and Development,2013,23(2):11-14.
[20] LI Yi-bo,LI Jun-jun. Harris corner detection algorithm based on improved contourlet transform[J]. Procedia Engineering,2011,15:2239-2243.
[21]杨占龙.基于特征点的图像配准与拼接技术研究[D].西安:西安电子科技大学,2008.YANG Zhan-long. Research image registration and mosaic based on feature point[D]. Xi’an:Xidian University,2008.
[22]齐俊.一种改进的Harris角点检测算法[D].北京:北京印刷学院,2015.QI Jun. An improved Harris corner detection algorithm[D]. Beijing:Beijing Institute of Graphic Communication,2015.