Improved Edge Detection Algorithm and Its Application in Robotic Fish

Abstract

To get self-adaptive thresholds, the edge detection algorithm of Canny operator is improved in OpenCV library under Linux platform in this paper. Firstly, the gradient graph of the gray image and the maximum value of the gradient are obtained. Then the histogram is calculated and the pixel points corresponding to the gradient values are obtained via the traversion of histogram. Finally, the high and low thresholds are calculated to determine edge. Consequently, there comes the new self-adaptive thresholds algorithm of Canny operator. In the meantime, by simulating on the robotic fish in the water, the new algorithm is compared with the traditional Canny operator in the effect of the output image and the Peak Signal to Noise Ratio. What’s more, the same picture is tested to compare time in the Matlab platform and OpenCV platform. Such comparisons show that the new algorithm has more flexibility and efficiency