Method for extracting line structure light stripe center

The invention relates to a line structure light stripe center extraction method comprising the following steps: obtaining a line structure light stripe image; carrying out self-adaptive thresholding on the line structure light stripe image to segment a light stripe ROI (Region of Interest) region; in the ROI region of the light stripe, solving the normal direction of the center line of the laser stripe according to a Hessian matrix by utilizing a Steger method principle aiming at the light stripe; and carrying out Taylor expansion along the normal direction according to the solved normal direction, solving the sub-pixel position of the central point of the laser stripe, and obtaining the center of the linear structure light stripe. According to the method, the self-adaptive thresholding method is introduced to distinguish the light stripe ROI region, the gray level changes of different regions in the image are considered, the threshold value of each pixel is determined according to the gray level characterist