Image Processing and Feature Extraction for Hull Structure GMAW Based on Weld Pool Visual Sensing

Algorithm 1

Code idea based on the FCM-Sobel algorithm.

Function FCM-Sobel ()

Input: , , ,

Output: a membership matrix , image edge

Step 1: given a set of points , and set iteration count ;

   Randomly initialize cluster centers , .

Step 2: apply Equation (9) to calculate FCM objective function .

Step 3: according to , use Equation (14) to calculate membership matrix .

Step 4: fix .

   Utilize Equation (18) to revise cluster center .

Step 5: amend

   Use Equation (20) to revise membership function .

Step 6: compare and .

   if , then

    Obtained and , iteration over;

    Continue to step 7;

   else do

      , return to step 3.

   end.

Step 7: according to the principle of maximum membership.

   Pixel is classified into the class that satisfies the conditions of ,

   .

Step 8: image segmentation is over.

   After division class, respectively label the grayscale of the same and different pixels to form an image segmentation, .

Step 9: according to , use Equation (5) to smoothen the image.

Step 10: apply Equations (1), (2), and (3) to calculate the value.

Step 11: judging image edge.

   If or or is met, then

     is the edge point.

   else do

    Repeat step 10.

   end.