Application of Edge Detection Algorithm Based on Morphology in Robot Vision System

Abstract

To a mobile robot vision system, it is of vital importance to separate objects from the background. This needs us firstly to extract edges from the images collected by the mobile robot. It is known that traditional edge detection algorithms are sensitive to noise and insufficient for complex edge feature. For the corridor image of a building, its signal-to-noise ratio is low and the edge complex. If we use traditional edge detection algorithms to dispose it directly, the result is not expected. In order to solve these problems, a novel multi-scale multi-structure element edge detection algorithm based on mathematical morphology is proposed. Experiments with corridor images of a teaching building prove that the proposed algorithm can preserve the detailed edge information in the original image while smoothing it simultaneously. Hence, the proposed algorithm can meet the needs of robot vision system.