Experiments on a series of X-ray images,which are taken by robot when it is working,are conducted. The experimental results show that,the algorithms detect the deviation angle precisely,and the detection velocity reaches 25 fps.

• 文中对机器人作业时拍摄的一组X射线图像进行了试验,结果表明:文中算法从X射线图像中准确检测出了管内外间的转角差,且检测速度超过25帧/秒的实时性要求。