22A-V1P5N104

22A-V1P5N104

• 動機：特征點具有局部差異性

• 以每個點為中心取一個窗口，例如，5×5/7×7的像素，描述特征點周圍環境

• 此點具有差異性->窗口往任意方向移動，則周圍環境變化較大->具有局部差異性

• 小二乘線性系統

• 加和符號：表示窗口內每個像素

• w：表示權重，權值1或者以點為中心的高斯權重（離點越近權重越大）

• I：表示像素，RGB/灰度

• u，v：窗口移動的方向

• H：harris矩陣，由兩個方向上的梯度構建而成

• 圖像梯度：

• Harris矩陣：

• Harris矩陣H 的特征值分析

• 兩個特征值反映相互垂直方向上的變化情況，分別代表變化快和慢的方向，特征值大變化快，特征值小變化慢

• λ1 ≈ λ2 ≈ 0， 兩個方向上變化都很小，興趣點位于光滑區域

• λ1 > 0 , λ2 ≈ 0 ，一個方向變化快，一個方向變化慢，興趣點位于邊緣區域

• λ1 , λ2 > 0 ， 兩個方向變化都很快，興趣點位于角點區域（容易判斷）

Siemens Simovert Masterdrives 6SE7015-0EP50-Z +C23+G91

Siemens Simodrive 610 FBG- Baugruppe 6RB2000-0NF01

Siemens Phoenix Interbus IBS S7 300 DSC-T 2719975 NEU

Siemens Sinumerik KUKA 6FX1123-1CC01 Ein/Ausgabe Karte

Siemens Simodrive Simovert Power Supply 6RB2000-0GB00

Siemens Simodrive 611 6SN1118-0DJ21-0AA0 V.B TOP

Siemens Simatic Coros OP-15 OP15-A 6AV3515-1EB00

Siemens Simatic S5 Analog 6ES5464-8MG11 6ES5-464-8MG11

Siemens Sinumerik 6FC5112-0CA02-0AA0 6FC51120CA020AA0

Siemens Sinumerik 6FC5112-0CA02-0AA0 6FC51120CA020AA0

Siemens Micromaster 440 6SE6440-2UD24-0BA1 4,0kW

Siemens Simodrive 611 6SN1123-1AB00-0HA1 2x8A 

Danfoss Softstarter MCD 3007 MCD3007 7kW 175G5002

Siemens Handterminal ECOS HT245-10-V02-0402 Laser

NUM Servomotor Servo Motor BMH1427N5AF1C CNC 3000 U/min

Panasonic Umrichter Driver MSDA043A1A MSDA 043A1A

Siemens Simatic 6GK7343-1CX10-0XE0 6GK7-343-1CX10-0XE0

Omron Sysdrive 3G3IV 3G3IV-A4055-EV2 5,5kW 10,3kVA

SPS OMRON 3G2C5-CPU01E SYSMAC C2000 CPU01

Siemens Simodrive 611 6SN1123-1AB00-0AA1 2x15A 

Siemens S5 Phoenix Contact Interbus-S IBS S5 DCB-T

Siemens Simatic S5 6ES5928-3UB12 6ES5-928-3UB12 V.04

NUM AC Servo Motor BMH1424R5AA1L 4250 U/min CNC

Danfoss Frequenzumrichter VLT3006 4,0kW 175H1150

Danfoss Frequenzumrichter VLT3006 4,0kW 175H1153

SEW Eurodrive Movitrac 1015-403-4-00 2,8kVA / 1,5kW

SEW Eurodrive Movitrac MCF40A0015-5A3-4-00 3,0kW

Siemens SIWAREX A 7MH4421-1AA01 WAEGEELEKTRONIK

Siemens Simovert Masterdrives 6SE7015-0EP50-Z H0018

Option Z=C43+C42+G91+F01 1,5kW

Danfoss Frequenzumrichter VLT 5005 175Z0058 5,5kVA 3KW 

METROHM 962 PH / ION Meter PH-Meter mit Temperatur

Siemens Teleperm M 6DS1403-8BA 6DS14038BA

Siemens Simatic S5 ET200B 6ES5451-2BA11 6ES5-451-2BA11

Siemens Simatic S5-182K Rack 6ES5182-3KB01 6ES5-182 

INDRAMAT Digital AC-Servo-Controller TDM 4.1-020-300-W0

Siemens Simatic S5 OP15-B OP-15-B 6AV3515-1MA01

Siemens 6GK7343-1CX10-0XE0 6GK7-343-1CX10-0XE0 Neuwert

Siemens Handterminal ECOS HT245-10-V02-0401 Laser

Bosch Power Supply NT1 5/12V 1070071376-201

SICK MSL Mehrstrahl-Lichtschranke MSLS02-25071 1015619 

Siemens Sinumerik FBG CPU Slave 6FX1122-5CC00

Fanuc MDI Unit A02B-0303-D329 A02B-0303-C329 

Siemens Simatic S5 IP242 6ES5242-1AA31 6ES5-242-1AA31

FANUC PMC-M Printed Circuit Board A16B-1211-0901/128

Siemens Simatic S5 OP15-A OP-15-A 6AV3515-1EB00

SICK MSL Mehrstrahl-Lichtschranke MSLE02-25011 1015620 

SEW Eurodrive Movitrac 31C015-503-4-00 1,5kW NEU

Mitsubishi AC-Servo Amplifier MR.J2S-70B 0,75kW 

Siemens Sinumerik Sirotec FBG Kopplung 6FX1135-7BB01

FANUC Memory Module Shared Ram Board A16B-1200-0150

Siemens Simatic S7 UR1 18 Slot 6ES7400-1TA01-0AA0 NEU

Siemens Simoreg VS-Regler BG C98043-A1004-L2-E11

SEW Eurodrive Movitrac 1006-403-4-00 1,4kVA / 0,6kW

Honeywell IPC 620-06 Processor Module 620-0636

SEW MOVIDRIVE MDV60A0040-5A3-4-00 6,6kVA 4kW + MDX

SEW MOVIDRIVE MDV60A0030-5A3-4-00 3,0kW + MDX 

SEW MOVITRAC 31C022-503-4-00 2,2kW 3,8kVA

Lenze Frequenzumrichter 8200 Motec E82MV152_4B001 1,5kW

Siemens Sinumerik OP 31 6FC5203-0AB10-0AA0 + ISA Conver

Siemens Simatic S5 Sinec L2 6GK1543-0AA01 CP5431

Siemens Sinumerik Baugruppe 6FX1122-1AD02 Version E

AEG SPS Modicon POS102-01 Pos 102.01 2 Axis

Flux Durchflusspumpe Pumpe 1410 U/min 0,75kW 230/400V

SEW Eurodrive MOVIDRIVE MDV60A0040-5A3-4-00 6,6kVA 4kW

Siemens Sinamics Single Motor Modul 6SL3120-1TE15-0AA0

Siemens Sinamics Double 6SL3120-1TE13-0AB0 3A Vers. A

Siemens Simatic S5 IP242B 6ES5242-1AA41 6ES5-242-1AA41

Siemens Simatic S5 Sinec L2 6GK1543-0AA01-Z CP5431 V03

Siemens Simatic S5 Rack 6ES5988-3LA11 6ES5-988-3LA11 

SEW MCF40A0015-5A3-4-00 + MDX60A0015-5A3-4-00 1,5kW

Siemens Sinumerik System 3 Messkreis 6FX1125-1AA01

INDRAMAT Operator Panel BTM15 BTM 15

Siemens Simoreg Hauptspindelregler C98043-A1086-L11-07

Siemens Simodrive 611 6SN1146-1AB00-0BA0 5/10kW Vers.D

Fanuc Drive Board OPT3 A16B-2200-0941

Fanuc Drive Board OPT2 A16B-2200-0931 /03A

Fanuc I/ O Board A16B-2200-0981

Industrie LCD Display 12,1" mit RGB Anschluss Color

Siemens Sinumerik I/O Modul 6FC3984-3RA 6FC3-984-3RA 

AEG Thyristorleistungssteller THYRO-P 1P 400-37H

Siemens Simatic S5 6ES5135-3KB13 + 6ES5955-3LC14 

Siemens Servomotor 1FT5044-1AF71-3EA0 + ROD 426 

Siemens Servomotor 1FT5044-1AF71-4EA0 + ROD 426 

Bosch Rexroth Servodyn KM 3300-T 054915-106 KM3300

Bosch Rexroth Servodyn KM 3300-T 1070054915-302 KM3300

Siemens Simodrive 610 Leistungsteil 6SC6100-0AB00

Siemens Servomotor 1FT5064-1AF71-4EA0 3000U/min

Siemens Simodrive 611 6SN1124-1AA00-0AA1  Sealed

Omron Sysdrive 3G3FU 3G3FU-A4055-CE 5,5kW 11kVA

Siemens Simatic S5 Rack 6ES5955-3NC13 6ES5-955-3NC13

Siemens Simatic S5 IP242 6ES5242-1AA31 6ES5-242-1AA31

Siemens Simatic S5 IP242 6ES5242-1AA13 Counter Modul

SEW MOVIDRIVE Steuerteil MDV60A-00 MDV60A-0015-5A3 

SEW MOVIDRIVE Steuerteil MDV60A-00 MDV60A-0015-5A3 

Siemens Simodrive 611 6SN1118-0DM21-0AA0 Version C

Siemens Simodrive 610 6SC6100-0NA21 + 6SC6100-0SA21

KNICK 2-Leiter Prozess PH-Meter Sensocheck 75X-2 75 X-2

KNICK Prozess PH-Meter Messger?t Sensocheck 71X-3 

KNICK Prozess PH-Meter Messger?t Sensocheck 71-2-5

Grundfos Kreiselpumpe MG80A2-19F100 0,75kW 2820U/min

InoNet IPC Mayflower-M6CD

MATEC MM-8 Box und MM8-Head

Beckhoff Digital Kompakt Servoverst?rker 403-A-S AX2523

Siemens Simatic S5 6ES5925-3SA11 6ES5-925-3SA11 Neuwert

FANUC AC Servo Motor Control Unit A03B-6077-H010

Siemens Simatic Simodrive Sinumerik S5 6SC9731-0AL2

Siemens Sinumerik FBG CPU Slave 6FX1122-5CC00

Siemens Simatic S5 Berthel Komm. Prozessor 38-H-000100

Heidenhain Ma?stab Satz LB326 mit 2x ML 320 251228-14

FANUC Software Profice Machine Edition A0064 

Bosch Rexroth SPS CL200 Magnet Roboterkarte PSM200

Siemens Simodrive 610 Power Supply 6SC6100-0GA00

Siemens Simatic S7 CP441-2 6ES7-441-2AA01-0AE0 6ES7441

Siemens Simatic S5 IP242B 6ES5242-1AA41 6ES5-242-1AA41

Heidenhain Ma?stab LS 406C ML820mm NEU 266054-31 AS0002

Siemens Simodrive 611 6SN1146-1AB00-0BA0 5/10kW Vers.D

Danfoss Frequenzumrichter 7,1kVA VLT 3006 175H7265

Siemens Simatic S5 IP242 6ES5242-1AA31 6ES5-242-1AA31

ECKARDT 2 x TV 928 1 x MUS 80 Trennverst?rker Messumf.

Siemens Sinumerik Video Board CNC 6FX1126-1AA01

Weltouch Miyachi CY-210AK Constant Welding Controller

Siemens Lastnetzger?t 6EV1364-5AK 6EV-1364-5AK 40A

FANUC Printed Circuit Board A16B-1210-0860 

FANUC Input Modul ID64C A03B-0801-C123

InoNet IPC Mayflower-M6/566C

2 Beckhoff AX2090-B900 Interface Karte Ethernet TCP/IP

Siemens Sinumerik Panel OP032S 6FC5203-0AB20-1AA0

Siemens Simodrive 610 Leistungsteil 20A 6SC6120-0FE01