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1、图像处理与控制系统,授课教师：祝海江 电子邮箱： 办公地点：科技楼502室,简 介,2004年6月毕业于中国科学院自动化研究所模式识别国家重点实验室模式识别与智能系统专业，获得工学博士学位；同年7月进入北京化工大学信息科学与技术学院工作； 2006.6-2007.6在日本岩手大学工学部任客座研究员； 主要从事机器视觉、图像处理、信号处理与检测等方向的教学与科研工作。 承担国家自然科学基金、教育部留学回国人员科研启动基金、中央高校基本科研业务费等国家和省部级课题。,科技楼502研究室,内容提要,常规计算机控制系统 基于图像处理的控制系统 (1)数字图像处理 (2)基于图像处理的伺服系统控制 (3
2、)基于实时图像处理的水箱控制系统,常规计算机控制系统,基于图像处理的控制系统,系统框图：,数字图像处理,概述 图像获取 图像增强与滤波 图像分割 图像特征提取,概述,本田公司最新开发的新型机器人“阿西莫”,世界第一个机器人艺人“Ever-2 Muse”,The goal of Digital Image Processing is to enable the process of recognition. The ultimate goal of DIP is to enable a computing machine to recognize at least geometrical siz
3、es, shapes and other objects as in human vision DIP is a branch of Artificial Intelligence (AI). An attempt to emulate human vision is called weak AI. To exactly produce a human replica electronically is called strong AI.,什么是数字图像处理（Digital Image Processing）?,原始图像,噪声图像,低通滤波后的图像,原始图像,基于大津方法的二值化图像,轮廓图像
4、,原始图像,直方图增强图像,边缘检测（ Robert operator）,边缘检测（ Sobel operator ),数字图像处理的应用,1. In Flexible Manufacturing Systems: Product Inspection（产品检测） Assembly（装配） Vehicle Guidance（车辆导航） 2. In Biomedical Engineering: Analyzing Chromosome （染色体分析） Tomography（断层摄影术） X-ray Analysis （X射线分析）,医疗产品检测,基于图像分析的玉米染色体中缺陷识别,3. In
5、Military Areas: Bomb Disposal（炸弹处理） Infra-red Night Vision（红外线夜视） Radar Image Processing（雷达图像处理） Target Identification（目标识别） 4. In Civilian Areas: Telecommunications（可视化通讯） Fire fighting（消防） Fingerprint detection (指纹识别) Intelligent Vehicle Highway System（智能交通系统）,Fingerprint Detection System,5. In Co
6、mmercial Areas: Bar Code Reader（条形码阅读器） Text Reader（文本阅读器） Multimedia（多媒体） 6. In Scientific Experiments: Fingerprint Detection（指纹识别） Space Exploration（太空探索） Geographic Studies（地理学） Archaeology（考古学） Physics（物理）,汉王随身抄,晨拓阅读扫描笔,简要历史回顾,数字图像处理系统回顾,1.Image Capturing System（图像获取系统） 2. Image Enhancement Syst
7、em（图像增强系统） 3.Feature Extraction System（特征提取系统） 4.Feature Representation and Description System（特征表示与描述系统） 5.Object Classification System（目标分类系统）,图像获取,成像方式,Radiance 光辉,Irradiance 发光,点光源,相机,目标,传感器,N,Z,Optical axis,Surface normal,成像设备,(1) ChargeCoupled Device (CCD,电荷耦合装置 ) Cameras,像素,像素,数字图像是离散形式,Pixel
8、,Pixel,图像坐标系统,图像类型 1:模拟图像 An analog image is a 2D image F(x, y) which - has infinite precision in spatial parameters x and y, and - infinite precision in intensity at each spatial point (x, y).,2:数字图像 A digital image is a 2D image Ir, c represented by a discrete 2D array of intensity samples, each o
9、f which is represented using a limited precision.,It is common to record intensity as an 8bit (1byte) number which allows values of 0 to 255. 256 different levels is usually all the precision available - from the sensor and - also is usually enough to satisfy the consumer.,3: A picture function is a
10、 mathematical representation f(x, y) of a picture as a function of two spatial variables x and y. x and y are real values defining points of the picture. f(x, y) is usually also a real value defining the intensity of the picture at point (x, y).,4:单色灰度图像 A grayscale image is a monochrome digital ima
11、ge f(x, y) with one intensity value per pixel.,5:彩色图像 A multispectral image is a 2D image Mx, y, which has a vector of values at each spatial point or pixel. If the image is actually a color image, then the vector has 3 elements.,I = 0.11R + 0.59G + 0.3B,6:二值图像 A binary image is a digital image with
12、 all pixel values 0 or 1.,图,B,A,像,7:分类图像 A labeled image is a digital image Lr, c whose pixel values are symbols. The symbol value of a pixel denotes the outcome of some decision made for that pixel.,Original image,Labeled image,Boundaries of the extracted face region,Original image (tiger),Labeled
13、image,1:标称分辨度 The nominal resolution of a CCD sensor is the size of the scene element that images to a single pixel on the image plane. Each pixel of a digital image represents a sample of some elemental region of the real image.,图像度量与量化（数字化）,If the pixel is projected from the image plane back out t
14、o the source material in the scene, then the size of that scene element is the nominal resolution 标称分辨度 of the sensor.,For example, if a 10 inch square sheet of paper is imaged to form a 500500 digital image, then the nominal resolution of the sensor is 0.02 inches (10/500 = 0.02).,500500,2: 分辨率The
15、term resolution refers to the precision of the sensor in making measurements, but is formally defined in different ways. If defined in real world terms, it may just be the nominal resolution, as in “the resolution of this scanner is one meter on the ground” Or it may be in the number of line pairs p
16、er millimeter that can be resolved or distinguished in the sensed image. 3:视野The field of view of a sensor (FOV) is the size of the scene that it can sense, for example 10 inches by 10 inches.,(a) Digital image with 127 rows of 176 columns; (b) (6388) created by averaging each 22 neighborhood of (a) and replicating the average to produce a 22 average block; (c) (3144) created in same manner from (b); and (d) (1522) created in same manner from (c).,Effective nomi
