基于支持向量机的机械零件计算机视觉检测若干关键技术的研究
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摘要
本文以提高视觉检测系统的检测精度和检测速度为目标,以支持向量机为主要算法,对图像降噪、边缘检测、亚像素检测和图像压缩等视觉检测的关键技术进行了较为深入和系统的研究。
通过深入分析支持向量机的原理,得出了利用最小二乘支持向量回归机(Least squares support vector regression, LS-SVR)对等间隔离散时间序列信号回归处理可等效为FIR滤波器的结论,给出了相应的卷积模板的构造方法;指出了采用高斯径向基核函数的LS-SVR滤波器与高斯滤波器在降噪能力上的等价性;针对脉冲噪声,提出了一种基于LS-SVR算子模板的多路开关滤波算法,并就三路开关算法和十七路开关算法与现有的典型算法进行了对比研究;提出了严格的一维“好的定位”准则的表达式;建立了基于梯度的二维边缘检测算子的“好的检测结果”和“好的定位”准则的离散表达式;利用LS-SVR求出了二维最优边缘检测算子的近似解;提出了基于支持向量回归的亚像素边缘表示方法,以锥螺纹和链板参数的亚像素检测为例,讨论了支持向量回归机输入样本集的构造方法和获得零件直线类与圆类边缘的亚像素表示的方法;提出了基于LS-SVR的Neville滤波器的设计方法;针对一类图像的整数小波变换,设计了基于最小化小波能量的常用的LS-SVR预测滤波器。
本文所取得的研究成果对于发展图像处理理论,推动计算机视觉在工业质量检测中的应用具有理论意义和实用价值。
Computer vision inspection technology is computer vision based non-intrusive measuring technique integrated with the modern optical technology, electronic technique, mechanical manufacturing, control theory and computer technology. Visual inspection system can be roughly sub-divided into two categories: the system hardware design and the software system design.The system hardware design mainly includes lighting system design, camera system design, information channel construction, image acquisition and computer system selection; the software system mainly deals with the image processing technique, camera calibration technique.In this dissertation, with a view to improving the detecting precision and speed of visual inspection system, the key technologies of the image denoising, edge detection, sub-pixel detection and image compression, are conducted intensively and systematically.
The support vector machine (SVM) is a kind of machine learning approaches in statistical learning theory fitting especially for small sample training, in which the generalization capability is improved by conducting the structural risk minimization (SRM). In dealing with the pattern recognition with small sample, nonlinearity and higher dimensional space, SVM gives many specific advantages which can be employed in other machine learning problems such as function estimating. In recent years, great importance was attached to the application of SVM in computer vision, further research on that basis to well exert the role of SVM in computer vision will be of vital importance for constructing computer vision detection system and elevating the measurement accuracy.
The basic operator in image processing is the filter. A functional filter plays a very vital role to image processing. Conclusions are arrived at on an in-depth study of SVM principle, that the processing of signals regression process at evenly spaced points in discrete-time series utilizing least squares support vector regression is equivalent to a FIR filter, in which the constructing method of convolution mask is presented; and it is suggested that the FIR filter is a linear filter families differentiated by kernel function and penalty factor, and the derivative operator of every orders in strictly compliance with mathematical definitions is deduced. The using of such a filter can overcome, on one hand, the problem of wider margin of variation caused by utilizing difference method for approximate calculation because of not obtaining derivation operator when a filter is derived, on the other hand, the slower speed caused by matrix calculation in processing data using LS-SVM in conducting engineering problems.
Images are usually corrupted by random noise in the process of camera imaging, digital image acquisition and image transmission. The random noises make it hard for the pixels value of images to reflect the optical properties of the object, which have led to a sharp drop in accuracy of measurement. Therefore corresponding measures have to be taken to decrease the influence from the random noise to measuring results. In this dissertation, theoretical analysis and experimental study of noise reduction by LS-SVR filter is conducted to reach the conclusion that the LS-SVR filter with RBF kernel function is equivalent to the gaussian filter in noise reduction effect, the parameters setting rule for LS-SVR filter are suggested also. LS-SVR based multiple-way switch universal image denoising algorithm is proposed, and the LS-SVR operator mask design technique and operating steps of the algorithm for 3-way switch and 17-way switch algorithm are included. Experiment shows that the proposed algorithms perform better results in the image denoising, the preserving for edges including its details and the computing speed, which provide with better image data recovery method for accurate measurement of vision checking system under strong impulse noise interference.
Edges, as the general characteristics of an object, are is the base reference for geometrical feature extraction and analysis in vision inspection. The edge features may be changed with the random noise interference, an excellent edge detection method should possess both anti-noise ability and perfect preserving edge nature. Edge features analyzing combined with well-conditioned method for ill-conditioned image numerical derivative are conducted in this dissertation, the conclusion has been reached that the basic questions for edge detection are the solving for the derivative operators of smoothing filter. By analyzing canny’s 1-d edge detection discrete criterion presented by Demigny, the expression of strict 1-d“good localization”criterion is proposed, on which, the grads based discrete expressions of criterion for the“good detection”and“good localization”of 2-d edge detection operator are created. The 2-d optimal operator corresponding to that criterion is solved in which the evaluation methodology in theory for 2-d edge detection operator is proposed that develops the edge detection theory by Canny. The approximate solution of 2-d optimal edge detection operator is obtained by LS-SVR, results of experiments and theoretical computation indicate that the obtained optimal operator is provided with both strong anti-noise ability and high precision of location. The experimental determination of optimum parameters for 2-d Canny optimal edge detection operator is conducted; Comparison between the results of 2-d Canny optimal edge detection operator and that of the 1-d Canny optimal edge detection operator shows that 2-d Canny optimal edge detection operator generated by 2-d Canny optimal edge detection operator using tensor product is not the optimal edge detection operator. By analyzing multi-scale in wavelet theory, a practical method realizing multi-scale detection by single operator is proposed.
Usually the image pixels are roughly descripted by edge geometric characteristics, with the continuously increasing of the demand for the precision of vision inspection, the pixel accuracy will not satisfy the actual measuring requirement, employing sub-pixel method to express the edges of a body will remarkablely improve the detection precision of the part geometrical parameters. By analyzing the characteristics of sub-pixel edge detection, the sub-pixel edge detection is divided, in view of application, into image interpolation method and edge fitting method; considering the deficiency existed in optimizing function structure in the fitting method, the sub-pixel edge representation is presented by SVM in edge fitting; taking the sub-pixel edge parameters detection of the taper thread and the chain board for example, the input training sample set construction of SVM and sub-pixel edges description methods for the lines and circles are conducted in details.
Image compression is one of the key technologies in vision inspection. Wavelet transform is an effective tool for analyzing non-stationary signals and also a major technique in image compression. The wavelet structure can be implemented using the wavelet lifting scheme, the reconfiguration can be directly obtained. By analyzing the wavelet lifting scheme and the Neville filter of the prediction operator for lifting scheme, the implementation of LS-SVR based Neville filter is proposed. The detailed parameters of LS-SVR for usual Neville filter are set. In view of the integer wavelet transform for a class of images, the typical LS-SVR filter is designed based on minimizing the wavelet energy, and the selecting principle for lifting wavelet prediction operator is analyzed also so.
Research findings in this dissertation are theoretical significance and practical value to developing the image processing theory and promoting the application of computer vision in industry quality inspection.
通过深入分析支持向量机的原理,得出了利用最小二乘支持向量回归机(Least squares support vector regression, LS-SVR)对等间隔离散时间序列信号回归处理可等效为FIR滤波器的结论,给出了相应的卷积模板的构造方法;指出了采用高斯径向基核函数的LS-SVR滤波器与高斯滤波器在降噪能力上的等价性;针对脉冲噪声,提出了一种基于LS-SVR算子模板的多路开关滤波算法,并就三路开关算法和十七路开关算法与现有的典型算法进行了对比研究;提出了严格的一维“好的定位”准则的表达式;建立了基于梯度的二维边缘检测算子的“好的检测结果”和“好的定位”准则的离散表达式;利用LS-SVR求出了二维最优边缘检测算子的近似解;提出了基于支持向量回归的亚像素边缘表示方法,以锥螺纹和链板参数的亚像素检测为例,讨论了支持向量回归机输入样本集的构造方法和获得零件直线类与圆类边缘的亚像素表示的方法;提出了基于LS-SVR的Neville滤波器的设计方法;针对一类图像的整数小波变换,设计了基于最小化小波能量的常用的LS-SVR预测滤波器。
本文所取得的研究成果对于发展图像处理理论,推动计算机视觉在工业质量检测中的应用具有理论意义和实用价值。
Computer vision inspection technology is computer vision based non-intrusive measuring technique integrated with the modern optical technology, electronic technique, mechanical manufacturing, control theory and computer technology. Visual inspection system can be roughly sub-divided into two categories: the system hardware design and the software system design.The system hardware design mainly includes lighting system design, camera system design, information channel construction, image acquisition and computer system selection; the software system mainly deals with the image processing technique, camera calibration technique.In this dissertation, with a view to improving the detecting precision and speed of visual inspection system, the key technologies of the image denoising, edge detection, sub-pixel detection and image compression, are conducted intensively and systematically.
The support vector machine (SVM) is a kind of machine learning approaches in statistical learning theory fitting especially for small sample training, in which the generalization capability is improved by conducting the structural risk minimization (SRM). In dealing with the pattern recognition with small sample, nonlinearity and higher dimensional space, SVM gives many specific advantages which can be employed in other machine learning problems such as function estimating. In recent years, great importance was attached to the application of SVM in computer vision, further research on that basis to well exert the role of SVM in computer vision will be of vital importance for constructing computer vision detection system and elevating the measurement accuracy.
The basic operator in image processing is the filter. A functional filter plays a very vital role to image processing. Conclusions are arrived at on an in-depth study of SVM principle, that the processing of signals regression process at evenly spaced points in discrete-time series utilizing least squares support vector regression is equivalent to a FIR filter, in which the constructing method of convolution mask is presented; and it is suggested that the FIR filter is a linear filter families differentiated by kernel function and penalty factor, and the derivative operator of every orders in strictly compliance with mathematical definitions is deduced. The using of such a filter can overcome, on one hand, the problem of wider margin of variation caused by utilizing difference method for approximate calculation because of not obtaining derivation operator when a filter is derived, on the other hand, the slower speed caused by matrix calculation in processing data using LS-SVM in conducting engineering problems.
Images are usually corrupted by random noise in the process of camera imaging, digital image acquisition and image transmission. The random noises make it hard for the pixels value of images to reflect the optical properties of the object, which have led to a sharp drop in accuracy of measurement. Therefore corresponding measures have to be taken to decrease the influence from the random noise to measuring results. In this dissertation, theoretical analysis and experimental study of noise reduction by LS-SVR filter is conducted to reach the conclusion that the LS-SVR filter with RBF kernel function is equivalent to the gaussian filter in noise reduction effect, the parameters setting rule for LS-SVR filter are suggested also. LS-SVR based multiple-way switch universal image denoising algorithm is proposed, and the LS-SVR operator mask design technique and operating steps of the algorithm for 3-way switch and 17-way switch algorithm are included. Experiment shows that the proposed algorithms perform better results in the image denoising, the preserving for edges including its details and the computing speed, which provide with better image data recovery method for accurate measurement of vision checking system under strong impulse noise interference.
Edges, as the general characteristics of an object, are is the base reference for geometrical feature extraction and analysis in vision inspection. The edge features may be changed with the random noise interference, an excellent edge detection method should possess both anti-noise ability and perfect preserving edge nature. Edge features analyzing combined with well-conditioned method for ill-conditioned image numerical derivative are conducted in this dissertation, the conclusion has been reached that the basic questions for edge detection are the solving for the derivative operators of smoothing filter. By analyzing canny’s 1-d edge detection discrete criterion presented by Demigny, the expression of strict 1-d“good localization”criterion is proposed, on which, the grads based discrete expressions of criterion for the“good detection”and“good localization”of 2-d edge detection operator are created. The 2-d optimal operator corresponding to that criterion is solved in which the evaluation methodology in theory for 2-d edge detection operator is proposed that develops the edge detection theory by Canny. The approximate solution of 2-d optimal edge detection operator is obtained by LS-SVR, results of experiments and theoretical computation indicate that the obtained optimal operator is provided with both strong anti-noise ability and high precision of location. The experimental determination of optimum parameters for 2-d Canny optimal edge detection operator is conducted; Comparison between the results of 2-d Canny optimal edge detection operator and that of the 1-d Canny optimal edge detection operator shows that 2-d Canny optimal edge detection operator generated by 2-d Canny optimal edge detection operator using tensor product is not the optimal edge detection operator. By analyzing multi-scale in wavelet theory, a practical method realizing multi-scale detection by single operator is proposed.
Usually the image pixels are roughly descripted by edge geometric characteristics, with the continuously increasing of the demand for the precision of vision inspection, the pixel accuracy will not satisfy the actual measuring requirement, employing sub-pixel method to express the edges of a body will remarkablely improve the detection precision of the part geometrical parameters. By analyzing the characteristics of sub-pixel edge detection, the sub-pixel edge detection is divided, in view of application, into image interpolation method and edge fitting method; considering the deficiency existed in optimizing function structure in the fitting method, the sub-pixel edge representation is presented by SVM in edge fitting; taking the sub-pixel edge parameters detection of the taper thread and the chain board for example, the input training sample set construction of SVM and sub-pixel edges description methods for the lines and circles are conducted in details.
Image compression is one of the key technologies in vision inspection. Wavelet transform is an effective tool for analyzing non-stationary signals and also a major technique in image compression. The wavelet structure can be implemented using the wavelet lifting scheme, the reconfiguration can be directly obtained. By analyzing the wavelet lifting scheme and the Neville filter of the prediction operator for lifting scheme, the implementation of LS-SVR based Neville filter is proposed. The detailed parameters of LS-SVR for usual Neville filter are set. In view of the integer wavelet transform for a class of images, the typical LS-SVR filter is designed based on minimizing the wavelet energy, and the selecting principle for lifting wavelet prediction operator is analyzed also so.
Research findings in this dissertation are theoretical significance and practical value to developing the image processing theory and promoting the application of computer vision in industry quality inspection.
引文
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