Study On Template Matching Algorithm Based On Extracting Of Image Contour In Robot Vision

The research of template matching algorithm based on extracting of image contour in robot vision is accomplished in this paper. This algorithm, is involved in many fields' knowledge such as mathematics, optics, physics, signal analysis, imaging system, and so on, is strongly all-around one. If it is applied in the robot vision, it could improve the intelligence degree of the robot and relieve the workers' burden. So it is applied extensively in these occasions such as machine assembles automation product line, extreme environment and so on. Firstly, it gets the image by vidicon in the environment where the robot is. Then the computer processes the image and recognizes the beginning position of the part and the plane grasped by the robot.The main work completed in the paper is listed as following:1.Image function acquisition-,2.Read BMP files by DIB format;3.Drawing gray scale histogram;4.Choose a optimum threshold and make gray image become binary image-,S.Find image's contour points by making inner points become empty and apply template matching on the contour points;6.Transform the object's beginning points(pixel point) to the ones in the image coordinate and the positions of in the corresponding three dimensions;7.Compute the position vector and the normal vector of the object. And find the plane by which the robot grasp it by the normal vector of grasped plane;8.Confirm the position of the optimum plane, then transfer the position coordinate of the gained plane to the ones of the robot coordinate;The result indicates that its' implement is simpler and the speed of running is fester than other ways. The capability for calculating the precise position of the object is improved, and distributing of comparability is more sharpened comparatively. At the same time, it has higher capability of recognizing object and the characters such as real-time, reliability and universal ability. But it's ability for recognizing object, requires template image which could present the feature of the object to be designed ahead oftime, is still limited by the orientation of template image. After the algorithm of template matching based on extracting of contour is introduced to the system of robot vision, it could improved the performance of robot's use and make the robot have greater adaptability during the process of completing designed task. So the research of this algorithm has very wide prospect of appliance.