Fillet welds recognition based on inter-frame matching denoising

XIE Sheng; WEI Xin; LIANG Ziming

doi:10.7512/j.issn.1001-2303.2020.06.08

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Fillet welds recognition based on inter-frame matching denoising
Vol. 50, Issue 6, Pages: 48-53(2020)
Published：2020
DOI： 10.7512/j.issn.1001-2303.2020.06.08
稿件说明：

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DOI：

XIE Sheng, WEI Xin, LIANG Ziming. Fillet welds recognition based on inter-frame matching denoising[J]. Eletric Welding Machine2020, 50(6): 48-53. DOI： 10.7512/j.issn.1001-2303.2020.06.08.

摘要

焊接图像存在着大量的噪声干扰

对其进行处理是焊缝识别的前提。针对被动视觉焊缝跟踪系统的图像去噪问题

提出了基于帧间匹配的去噪方法

通过将旋转不变性二进制描述算法(Oriented FAST and Rotated BRIEF

ORB)与随机采样一致性算法(Random Sample Consensus

RANSAC)相结合

得到两帧图像间的单应矩阵

并以此对齐两帧图像内的焊件

采用帧间图像灰度替换的方式

用焊件图像替换飞溅区域得到无飞溅的焊缝图像。针对角接焊中焊件边缘直线的干扰

对比了最小二乘法、霍夫变换、RANSAC三种直线拟合算法

结果表明RANSAC算法在大量错误数据的干扰下拟合精度可达2个像素

满足焊缝跟踪的需求。

Abstract

There is a lot of noise interference in the welding image

and processing it is the premise of weld recognition. To deal with the image denoising problem of passive visual weld tracking system

a denoising method based on inter-frame matching is proposed. Through combining the ORB（Oriented FAST and Rotated BRIEF）algorithm with the RANSAC（Random Sample Consensus）algorithm

the single response matrix between the two frames of images is obtained

and the welding parts in the two frames are aligned by this method. By using the gray level replacement of the image between frames

the spatter area is replaced by the welding piece image to obtain the weld image without spatter. Aiming at the interference of the straight line of the edge of the welding piece in the fillet welding

three straight line fitting algorithms

least square method

hough transform and RANSAC

are compared. The results show that the RANSAC algorithm can better resist the interference of a large number of outliers and the precision can be up to 2 pixels

which can meet the requirement of weld tracking.