基于改进型广义Hough变换的茄子果实位姿识别方法

以茄子果实为例，提出一种基于改进型广义Hough变换的空间物体位置和姿态的识别方法。在已知图形的参数表制作阶段添加缩放和旋转运算，扩大样本的代表范围；采用“形状相似度”的方法初选待识图形的缩放索引和旋转索引，缩小了搜索范围；适当提高梯度索引步长，避免参考点在累加器中的排布过于分散，便于确定最终参考点坐标。试验表明：改进型广义Hough变换对茄子大、小目标的深度恢复误差分别减小了4.0和7.9个百分点，说明该方法对空间不同位姿、部分遮挡情况下茄子果实的识别具有良好的效果。

Recognition method of position and attitude of eggplant fruits based on improved generalized Hough transforms

Taking eggplant fruits as examples, one method was introduced for recognizing position and attitude of object based on improved generalized Hough transforms (IGHT). Scaling and rotation operations were added to the parameter index list establishment, which enlarged the representative ranges of sample. And the method of "shape similarity degree" was adopted to primarily select scaling index and rotation index of images awaiting recognization, which could effectively reduce the searching scope. Properly increasing step size of gradient index could avoid excessive dispersion of array in accumulator, and make it easy to search the final reference point coordinates. The experiment demonstrated that the depth recovering results for large target and small target were decreased by 4.0 and 7.9 percentage points, respectively, by using improved generalized Hough transforms, and this method is feasible and effective to recognize different pose and partially occluded eggplant fruits.