Abstract: The contract of the divided corridor images is enhanced by nonlinear gray transform. And based on the edge that detected by Canny operator, the morphology method, which has the multi-scale and multi-structuring thoughts, is used to connect edge. Thus the clear and full edge is got. Moreover, according to the detected edge, the path midline that is good for the movement of robot can be obtained. The paper presents algorithm and simulation results, which has been provided valid and effective.

Key words: Image enhancement, Edge detection, Canny operator, Morphology

摘要： 针对室内走廊样本，分块进行非线性灰度变换将图像对比度增强，通过Canny算子进行边缘检测，并在此基础上采用具有多结构和多尺度思想的形态学方法，完成边缘连接，得到清晰、完整的边缘图像。根据检测到的边缘，得出机器人行走的路径中线，为机器人行走提供依据。该文在算法描述的基础上进行了仿真实验，结果表明该方法是可行且有效的。

关键词: 图像增强, 边缘检测, Canny算子, 形态学

CLC Number: 

• TP391