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NHKロボコンでの画像処理
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NHKロボコンでの画像処理
1.
NHKロボコンでの 画像処理 @syuntoku14
2.
最近やってること • CourseraでMachine Learningのオンライン授業を取ってる •
ロボコン用に画像認識(全然機械学習使ってない!!)
3.
ロボコンでの画像認識について 目標: 画像と深度情報からから棒と飛んでるボールを検出する 使っている手法: ・確率的ハフ変換 ノイズに弱い、パラメータ多い、軽め ・LSD(Line Segment Detector) ノイズに強い、パラメータ少ない、重め
4.
・ハフ変換はノイズに弱い (下では最大長の直線を描画している)
5.
ハフ変換とは?? ・画像上の直線は𝜌 = 𝑥
∗ 𝑐𝑜𝑠𝜃 + 𝑦 ∗ 𝑠𝑖𝑛𝜃で表せることを利用→ρとθを決めれ ば直線が描ける ・Aを通る直線は無数にある→例えば右下図の赤線 ・多くの曲線が交わる点が一番直線っぽい ・一直線上の点はなんでも候補点になるのでノイズが入りやすい
6.
パラメータで頑張りをすればいける(特定の動画なら) →汎用性が全然ないのでロボコンでは役に立たない?
7.
LSDとは? • ハフ変換よりノイズに強い • パラメータチューニングがほとんどいらない •
画像中の輝度勾配と方向を計算したもの(Level-line Field)か ら直線領域候補を計算する • 短形で近似する→ちょっとずつ短形を大きくする
8.
LSDでの検出
9.
色画像による情報も加える • 今まではKinectの距離情報だけ使ってた →ノイズまみれ • ポールの色は予め分かっている →HSV色空間に変換して色を抽出 HSV色空間とは? 色相、彩度、明度で表される色空間 色の明るさ、濃さが簡単に調節可能→特定の色(今回は赤色)を抽出 しやすい
10.
HSV色空間に落とし込んで前処理
11.
最終的な 直線検出
12.
今後の課題 • お前ボール検出しとらんやんけ →オプティカルフローとかで頑張る(予定) • ボールの座標が分かると深度が分かる →3D空間に落とし込めそう •
機械学習も頑張る
13.
参考元 ・やさしいハフ(Hough)変換講座 – Qiita https://qiita.com/YSRKEN/items/ee94c7c22599c2374722 ・LSD:
a Line Segment Detector http://www.ipol.im/pub/art/2012/gjmr-lsd/
Editor's Notes
自動で動くロボットに ボールがポールを通ったか認識させる Kinectを使ってRGB画像と深度情報を取得してる
無数にある直線のパラメータの組み合わせをプロットすると曲線が得られる 多くの曲線が交わる点が一番直線っぽい 問題点として、いくつ交わればいいのか?離散的な点でも交わってしまう(ノイズが候補点として貢献してしまう)
例えば画面の範囲を指定したり、直線の途切れる許容範囲を指定したり また、投票数も指定しなければいけない(とてもめんどくさい)
勾配が激しいラインをLevel-Lineとよぶ(論文では) 多分勾配がないところはLevelLineの向きは同じ?
さっきのやつと違って短形を伸ばす形→ノイズに強い
正直右のやつだけならハフ変換でいけるのでは? →そうですね
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