Extracting weld seam by Hough transform based on dynamic windows

Based on the similarity of the former and later image in the seam tracking process and the coordinates of the previous pictures' three characteristic points,dynamic region of interested can be extracted from the current image. And the range of Hough transform parameter space's θ parameter is determined by the value of θ₀ parameter of the previous image and then each piece of dynamic image of region of interested is processed by Hough transform. The dynamic window and limiting Hough transform parameter space's θ range can significantly speed up the search for an effective pixel and reduce the Hough transform calculation. Experiments indicate that this method can greatly increased computational speed and algorithm stability and accuracy of fitted straight line,and meet the requirements of real-time seam tracking.