面向单目立体视觉的立方镜图像处理技术

面向单目视觉辅助光电准直仪对立方镜进行准直的需求，研究针对立方镜图像的数字图像处理技术。采用Canny边缘检测方法得到灰度图像中的边缘信息，借助Hough变换按照直线程度的强弱对边缘信息进行分类提取，得到图像中立方镜棱边对应的直线信息。按照偏角与截距对棱边直线信息进行分类排序，结合先验知识得到立方镜角点对应的配对相交直线，对配对直线求交点得到立方镜角点在图像中的位置，得到的立方镜棱边及角点信息为后续的立方镜位姿计算提供了基础数据。

A Study on Image Processing of Cubic Prism for Monocular Stereo Vision

Aimed at assisting the photoelectric theodolite to collimate the cubic prism, this study focuses on the digital image processing technology for the images of cubic prism. The canny edge detecting algorithm was used to obtain the edge information in a gray level image, then with the hough transformation algorithm, the line characteristics can be obtained in the picture, so the edge of cubic prism can be detected in picture. The edges of cubic prism was classified according to their intercepts and angles, and paired according to prior knowledge, the intersection of a paired line was computed as the vertex of the cubic prism, the coordinates of the vertexes can be used to compute the pose of cubic prism.