Gang Wang, Zhongchen Shi, Yang Shang, Qifeng Yu. Automatic Extraction of Diagonal Markers Based on Template Matching and Peaks of Gradient Histogram[J]. Acta Optica Sinica, 2018, 38(8): 0815014
- Acta Optica Sinica
- Vol. 38, Issue 8, 0815014 (2018)
Fig. 1. Results of different stages in getting candidate markers. (a) Template matching; (b) response map by NCC; (c) NCC thresholding; (d) candidate markers; (e) ordering thresholding; (f) Gaussian filtering
Fig. 2. Detection graphs of diagonal lines with LSD. (a) Topography of the diagonal marker; (b) extraction results of LSD; (c) lines merging results
Fig. 3. Oriented gradient of the diagonal marker. (a) Gradient directions; (b) histogram of original image; (c) histogram of original image rotated 45°
Fig. 4. Flowchart of diagonal markers' automatic extraction method
Fig. 5. Robustness test. (a) Different illuminations; (b) different perspectives; (c) complex environment
Fig. 6. Universality test. (a) Square diagonal marker; (b) coded circular diagonal marker; (c) checkerboard
Fig. 7. Results of checkerboard corner detection
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Table 1. Deviations of checkerboard corner detection by two methods
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