Detección Eficiente de Elipses en Imágenes. Aplicación al Posicionamiento 3D de un Robot Industrial

Eusebio de la Fuente López, Felix Miguel Trespaderne

Resumen

En este artículo se presenta un algoritmo para la detección de elipses en imágenes, cuyo objetivo es el cálculo d e la posición 3D de una característica circular en una aplicación robótica. El algoritmo emplea un procedimiento estocástico RANSAC cuya eficiencia ha sido mejorada. El muestreo aleatorio ha sido sustituido por un muestreo guiado sobre las cadenas de contorno de la imagen, que son ordenadas de acuerdo a un criterio de probabilidad de formar parte de la elipse buscada. Esta estrategia disminuye notablemente la cantidad de muestras necesarias, permitiendo que el algoritmo sea adecuado para tiempo real.

Palabras clave

Reconocimiento de Patrones; Estimación Robusta; Visión para Robots; Robots Industriales

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