Weisong Yang, Shuaiping Guo, Xuejun Li, Hongguang Li. Checkerboard Corner Detection Based on Hough Transform and Circular Template[J]. Laser & Optoelectronics Progress, 2020, 57(18): 181510
- Laser & Optoelectronics Progress
- Vol. 57, Issue 18, 181510 (2020)
Fig. 1. Checkerboard projection imaging model
Fig. 2. Checkerboard on imaging plane
Fig. 3. Hough transform schematic
Fig. 4. Results of checkerboard straight line separation under Hough transform. (a) Original image; (b) image after straight line separation
Fig. 5. Discrimination of the USAN area of the circular template. (a) Circular template near the corner point; (b) distribution of the USAN area corresponding to the template
Fig. 6. Mathematical model of the circular template USAN region
Fig. 7. Corner precise positioning. (a) Template kernel coordinate extraction; (b) corner search area; (c) minimization criterion positioning
Fig. 8. Experimental site and equipment
Fig. 9. Corner detection results of the method in this paper
Fig. 10. Scattered point distributions of reprojection error. (a) Method of this paper; (b) method of Ref. [10]; (c) method of Ref. [16]; (d) method of Ref. [17]
Fig. 11. Results of checkerboard corner detection under different lighting conditions. (a) Dimmed light (g=25.9); (b) medium light (g=76.5); (c) bright light (g=165.8)
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Table 1. Camera calibration results
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Table 2. Corner detection errors under different lighting conditions
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