Research on Deviation Detection of Belt Conveyor Based on Inspection Robot and Deep Learning

Algorithm 2

Idler outer edge detection algorithm based on template matching.

	Input: Edge map , prior transformation parameters , , , , , , , , and .
	Output: Idler outer edge parameters .
(1)	Compute the template elliptical arcs by using equations (11) and (12);
(2)	Consider the edge point in the left half of as the origin coordinate, compute the matching confidence by using equation (13);
(3)	Traverse all the edge points in and repeat step 2, then output the parameters with the highest matching confidence.